Automatic testing equipment and method for the size of a porous ceramic material

Abstract

The present application relates to a kind of porous ceramic material size automatic test equipment and method, belong to image measurement technical field.Test method includes: step S1, multiple sample numbers and in order are placed into each sample compartment of material taking frame, and blank material receiving frame is placed in material taking frame side;Step S2, according to the size specification of sample, the size of material taking frame and material receiving frame, sample quantity, set the sampling program and sample receiving program of mechanical arm;Step S3, according to the size specification of sample, set the measurement program of image measuring instrument measurement sample size;Step S4, according to sampling program, control mechanical arm from material taking frame sampling and place in image measuring instrument;According to measurement program, control image measuring instrument to sample size measurement;According to sample receiving program, control mechanical arm and sample receiving to material receiving frame in, until complete the measurement of all samples.The present application can realize the accurate test of large batch sample size, improve test efficiency and accuracy.

Description

Technical Field

[0001] This invention relates to the field of image measurement technology, and in particular to an automated testing device and method for the dimensions of porous ceramic materials. Background Technology

[0002] Porous ceramic materials are widely used in high-temperature structural material systems due to their advantages such as high melting point, high temperature resistance, oxidation resistance, high hardness, low density, and resistance to acid and alkali corrosion. The density of ceramic materials is closely related to their thermal stability and mechanical properties, making it an important physical parameter. Therefore, the accuracy of density test data is crucial for ensuring the reliability of the materials.

[0003] Measuring the density of porous ceramic material samples requires first measuring their dimensions. Currently, the dimensions of porous ceramic material samples are measured manually using vernier calipers, measuring the sample's three dimensions (length, width, and thickness) separately, and then calculating the arithmetic mean. This process is time-consuming, inefficient, and requires recording, transferring, and archiving test data, making the steps cumbersome. Each sample test takes 4-5 minutes, and errors are easily introduced during the testing of a large number of samples, leading to inaccurate test results. Summary of the Invention

[0004] Based on the above analysis, the present invention aims to provide an automated testing device and method for the dimensions of porous ceramic materials, in order to solve the problems of low measurement efficiency and low accuracy when manually measuring the dimensions of porous ceramic materials.

[0005] The main objective of this invention is achieved through the following technical solution:

[0006] This invention provides an automated method for testing the dimensions of porous ceramic materials, comprising:

[0007] Step S1: Number the multiple samples and place them in the sample compartments of the picking rack in sequence, and place an empty receiving rack next to the picking rack.

[0008] Step S2: Set the sampling and receiving programs for the robotic arm according to the size specifications of the sample, the size of the picking rack and receiving rack, and the number of samples.

[0009] Step S3: Set the measurement program for measuring the sample size using the image measuring instrument according to the sample size specifications;

[0010] Step S4: According to the sampling procedure, control the robotic arm to pick up the sample from the picking rack and place it in the image measuring instrument; according to the measurement procedure, control the image measuring instrument to measure the size of the sample; according to the sample receiving procedure, control the robotic arm to receive the sample into the receiving rack until all samples are measured.

[0011] Furthermore, in step S1, the number of samples placed in each sample cell is the same, and at least one sample is placed in each sample cell, with multiple samples stacked in the sample cells.

[0012] Furthermore, in step S2, setting the sampling procedure for the robotic arm includes:

[0013] Based on the dimensions of the material handling rack, set the x-offset and y-offset of the robotic arm in the x and y directions of the material handling rack;

[0014] The maximum number of samples the robotic arm can take from each sample cell is set based on the number of samples stacked in each sample cell.

[0015] Based on the sample thickness and the number of samples in each sample cell, set the z-offset of the robotic arm in the z-direction of the pick-up rack;

[0016] Set the maximum number of sampling and testing cycles for the robotic arm based on the number of samples in the sampling rack.

[0017] Further, step S4 includes:

[0018] S41, set the initial x-offset of the robotic arm to X = 0, y-offset to Y = 0, the number of samples taken in one sample cell to j = 0, z-offset to Z = sample height × j, and the number of sampling and testing to N = 0;

[0019] S42, control the robotic arm to start from the initial ready-to-grab position of the picking grid, offset according to the set offset amount, and perform a curve-to-linear motion to pick up a sample from the sample grid of the picking rack and place it on the image measuring instrument; after the sample test is completed, the robotic arm grabs the sample on the image measuring instrument and places it in the receiving rack; let the number of samples taken in a sample grid be j = j + 1, and let the number of sampling tests be N = N + 1;

[0020] S43, control the robotic arm to return to the initial ready-to-collect position, set the z offset Z = sample height × j, repeat step S42 until the sampled quantity j reaches the maximum sampled quantity;

[0021] S44, set the number of samples j = 0 in a sample cell, the x offset X = X + the length of the sample cell in the x direction, control the robotic arm to return to the initial ready-to-take position, and repeat the above steps S42 to S43.

[0022] S45, repeat steps S42 to S44 above until the displacement of the robotic arm in the x direction exceeds the maximum displacement in the x direction;

[0023] S46, set the number of samples already taken in a sample cell j = 0, the x offset X = 0, the y offset Y = Y + the length of the sample cell in the y direction, control the robotic arm to return to the initial ready-to-take position, and repeat the above steps S42 to S45;

[0024] S47. Repeat steps S42 to S46 until the offset of the robotic arm in the y direction exceeds the maximum offset in the y direction, and the number of sampling and detection times of the robotic arm reaches the maximum value.

[0025] Further, step S3 includes:

[0026] Set up the measurement procedures for the sample length and width according to the sample length and width specifications;

[0027] Set up the sample height measurement procedure according to the sample height specifications;

[0028] Configure the output parameters of the measurement program and its storage path.

[0029] Further, in step S3, the measurement procedures for the sample length and width are set, including:

[0030] Place a sample on the worktable of the image measuring instrument;

[0031] Focus the projected sample until the sample boundaries are clear.

[0032] Establish a coordinate system within the image based on the sample's length and width specifications;

[0033] The image edge-finding measurement method was used to measure the length and width of the sample.

[0034] Further, in step S3, the procedure for measuring the sample height is set, including:

[0035] Focus according to the image displayed by the image measuring instrument until the sample surface is clear;

[0036] Select autofocus to obtain the current coordinate value and record the height point of the sample;

[0037] The working table of the moving image measuring instrument is focused by aligning the focus with the plane of the working table until the surface of the working table is clear, thus obtaining the height point of the working table.

[0038] Calculate the height of the sample based on the height points of the sample and the worktable.

[0039] Embodiments of the present invention also provide an automated dimensional testing device for porous ceramic materials, used to implement the method of the above embodiments. The device includes: a sample stage, a pick-up rack, a take-up rack, a gripping device, an image measuring instrument, and a control device. The pick-up rack and the take-up rack are placed side by side on the sample stage. The pick-up rack is used to hold the porous ceramic material sample to be tested, and the take-up rack is used to hold the sample after testing. The gripping device is disposed between the sample stage and the image measuring instrument, and the placement positions of the pick-up rack and the take-up rack correspond to the two sides of the gripping device. The gripping device is used to grip and move the sample. The control device is disposed on the other side of the image measuring instrument away from the sample stage. The control device is used to: control the gripping device to grip the sample in the pick-up rack and place it on the image measuring instrument; control the image measuring instrument to automatically measure the size of the sample; and control the gripping device to grip the measured sample and place it in the take-up rack.

[0040] Furthermore, the gripping device includes a robotic arm and an air compressor; the robotic arm is positioned between the sample stage and the image measuring instrument, and can move and rotate in multiple directions; the sampling end of the robotic arm is equipped with a sampling suction cup, and the air compressor is connected to the robotic arm to provide negative pressure for the sampling suction cup, which is used to grip the sample using negative pressure.

[0041] Furthermore, the sample rack includes multiple identical sample cells arranged in an array, which are used to place samples.

[0042] Compared with the prior art, the present invention can achieve at least the following beneficial effects:

[0043] 1. The method of the present invention, by placing the sample to be tested in the sample compartment of the picking rack, and programming the movement of the robotic arm according to the size of the sample, the picking rack and the receiving rack, can achieve precise positioning and grasping of each sample; and by programming the test of the image measuring instrument according to the size of the sample, the sample can be accurately positioned in the coordinate system of the image measuring instrument, so as to achieve accurate testing of the sample size.

[0044] 2. Using the method of this invention, robotic arm motion programming and image measuring instrument testing programming can be performed for samples of different sizes and specifications, realizing precise positioning, grasping and testing of samples of different sizes and specifications. It is applicable to samples of different sizes and specifications and has a certain degree of versatility.

[0045] 3. The measurement program designed in this invention can generate a test data table and store it in a designated location on the computer after each group / sample test is completed, which reduces the labor cost of paper records and data transfer and improves the level of automation.

[0046] 4. This invention greatly improves testing efficiency, increasing the testing efficiency per sample by 60%.

[0047] In this invention, the above-described technical solutions can be combined with each other to achieve more preferred combinations. Other features and advantages of this invention will be set forth in the following description, and some advantages may become apparent from the description or be learned by practicing the invention. The objects and other advantages of this invention can be realized and obtained from what is particularly pointed out in the description and drawings. Attached Figure Description

[0048] The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Throughout the drawings, the same reference numerals denote the same parts.

[0049] Figure 1 This is a schematic diagram of the structure of an automated size testing device according to some embodiments of the present invention.

[0050] Figure 2 for Figure 1 A structural schematic diagram of a medium-sized automated testing device from another perspective.

[0051] Figure 3 This is a schematic diagram of the material handling rack according to some embodiments of the present invention.

[0052] Figure 4 This is a comparison chart of the sample size test results of Example 1 and Comparative Example 1 of the present invention;

[0053] Figure 5 This is a comparison chart of the sample volume test results of Example 1 and Comparative Example 1 of the present invention.

[0054] Explanation of reference numerals in the attached figures:

[0055] 1. Sample stage; 2. Material handling rack; 21. Sample grid; 22. Rectangular sample tray; 23. Divider; 3. Material receiving rack; 4. Gripping device; 5. Image measuring instrument; 6. Support platform; 7. Guardrail. Detailed Implementation

[0056] To make the objectives, technical solutions, and advantages of the present invention clearer, exemplary embodiments of the present invention will be described below in conjunction with the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. For clarity and brevity, not all features of actual embodiments are described in the specification.

[0057] To obtain the density of porous ceramic material samples, it is first necessary to obtain their dimensions. These samples are typically cuboid in shape and have specific dimensional specifications; for example, a batch of samples might have dimensions of 100mm × 100mm × 10mm. However, due to factors such as the manufacturing process, the actual dimensions of each sample may have some error. For instance, one sample might have actual dimensions of 101.1mm × 99.4mm × 10.7mm. Therefore, to obtain a more accurate density, the actual dimensions of each sample need to be measured.

[0058] Therefore, embodiments of the present invention provide an automated method for testing the dimensions of porous ceramic materials, the method comprising the following steps:

[0059] Step S1: Number the multiple samples and place them in the sample compartments of the picking rack in sequence, and place an empty receiving rack next to the picking rack.

[0060] Step S2: Set the sampling and receiving programs for the robotic arm according to the size specifications of the sample, the size of the picking rack and receiving rack, and the number of samples.

[0061] Step S3: Set the measurement program for measuring the sample size using the image measuring instrument according to the sample size specifications;

[0062] Step S4: According to the sampling procedure, control the robotic arm to pick up the sample from the picking rack and place it in the image measuring instrument; according to the measurement procedure, control the image measuring instrument to measure the size of the sample; according to the sample receiving procedure, control the robotic arm to receive the sample into the receiving rack until all samples are measured.

[0063] The method of the present invention, by placing the sample to be tested in the sample compartment of the picking rack, and programming the movement of the robotic arm according to the size of the sample, the picking rack and the receiving rack, can achieve precise positioning and grasping of each sample; and by programming the image measuring instrument according to the size of the sample, the sample can be accurately positioned in the coordinate system of the image measuring instrument, so as to achieve accurate measurement of the sample size.

[0064] Using the method of this invention, robotic arm motion programming and image measuring instrument testing programming can be performed for samples of different sizes and specifications, enabling precise positioning, grasping, and testing of samples of different sizes and specifications. It is applicable to samples of different sizes and specifications and has a certain degree of versatility.

[0065] The picking rack and receiving rack used can be designed according to the size specifications of the samples being tested, so that they can be used for samples of different sizes. The picking rack includes n×m (x-direction × y-direction) sample cells, and the size of each sample cell is a×b (x-direction × y-direction).

[0066] Specifically, in step S1, the same number of samples are placed in each sample cell. Furthermore, at least one sample is placed in each sample cell; if multiple samples are placed, they are stacked within the sample cells.

[0067] In some embodiments, the sampling end of the robotic arm is provided with a sampling suction cup, and an air compressor is connected to the robotic arm to provide negative pressure to the sampling suction cup. During the test, the negative pressure of the sampling suction cup is used to grab the sample.

[0068] In some embodiments, before starting the automated size test, it is also necessary to set the pressure of the sampling suction cup. Specifically, the pressure of the sampling suction cup can be set to 0.65 to 0.75 MPa, for example, 0.65 MPa, 0.68 MPa, 0.70 MPa, 0.72 MPa, 0.75 MPa, etc., to ensure stable sample gripping.

[0069] In some embodiments, in step S2, it is also necessary to set the movement position and program of the robotic arm according to the positions of the picking rack, the image measuring instrument and the receiving rack, including translational movement and rotational movement, so that the robotic arm can move accurately between the picking rack, the image measuring instrument and the receiving rack.

[0070] In some embodiments, step S2, setting the sampling procedure for the robotic arm includes:

[0071] Based on the dimensions of the material handling rack, set the x-offset and y-offset of the robotic arm in the x and y directions of the material handling rack;

[0072] The maximum number of samples the robotic arm can take from each sample cell is set based on the number of samples stacked in each sample cell.

[0073] Based on the sample thickness and the number of samples stacked in each sample compartment, set the z-offset of the robotic arm in the z-direction of the picking rack;

[0074] Set the maximum number of sampling and testing cycles for the robotic arm based on the number of samples in the sampling rack.

[0075] Specifically, the offset of the robotic arm in the x-direction of the picking rack is the length a mm of the sample cell in the x-direction, and the offset of the robotic arm in the y-direction is the length b mm of the sample cell in the y-direction; and the maximum offset of the robotic arm in the x-direction of the picking rack is a×(n-1) mm, and the maximum offset in the y-direction is b×(m-1) mm.

[0076] The number of samples taken by the robotic arm in each sampling cell is j, and the offset of the robotic arm in the z-direction of the picking rack is the height of the sample c × the number of samples taken j, i.e., c × j mm; the maximum number of samples taken in each sampling cell is the number of samples in the sample cell k;

[0077] The maximum number of sampling and testing operations for the robotic arm is k×n×m.

[0078] In addition, the material receiving program of the robotic arm is determined according to the size of the receiving rack, the number of sample cells, and the sample size. The setting method of the material receiving program is the same as that of the material picking program, so it will not be described again here.

[0079] This invention develops different sampling and receiving programs for samples of different sizes and specifications, as well as for the picking rack and receiving rack, thereby enabling precise positioning of samples within the picking rack and sample compartments in the receiving rack for accurate picking and receiving.

[0080] In some embodiments, step S4, when the robotic arm performs sampling, specifically includes the following steps:

[0081] S41, set the initial x offset X = 0, y offset Y = 0, the number of samples taken in one sample cell j = 0, z offset Z = c × j, and the number of sampling tests N = 0;

[0082] S42, control the robotic arm to start from the initial ready-to-grab position of the picking grid, offset according to the set offset amount, and perform a curved-linear motion to pick up a sample from the sample grid of the picking rack and place it on the image measuring instrument; after the sample test is completed, the robotic arm grabs the sample on the image measuring instrument and places it in the receiving rack; and set the number of samples taken in a sample grid j = j + 1, and the number of sampling tests N = N + 1;

[0083] S43, control the robotic arm to return to the initial ready-to-pick-up position, let the z offset Z = c × j, repeat step S42 until the sampled quantity j = k;

[0084] S44, set the number of samples already taken in a sample cell j = 0, the x offset X = X + a, the robotic arm returns to the initial ready-to-take position, and repeats the above steps S42 to S43;

[0085] S45, repeat steps S42 to S44 above until the offset of the robotic arm in the x direction X>a×(n-1)mm;

[0086] S46, set the number of samples already taken in a sample cell j=0, the x offset X=0, the y offset Y=Y+b, control the robotic arm to return to the initial ready-to-take position, and repeat the above steps S42~S45;

[0087] S47. Repeat steps S42 to S46 until the offset of the robotic arm in the y direction is greater than b×(m-1)mm. The number of sampling and detection times of the robotic arm is N=k×n×m.

[0088] In some embodiments, the specific steps of the robot arm in step S4 when collecting samples are similar to those when taking samples, except that the offset direction in the z-direction is opposite, which will not be described again here.

[0089] In some embodiments, step S3 includes:

[0090] S31, Set the measurement program for sample length and width according to the sample length and width specifications;

[0091] S32, Set the sample height measurement program according to the sample height specifications;

[0092] S33, set the output parameters of the measurement program and its storage path.

[0093] The embodiments of the present invention, by setting the measurement program for sample length and width according to the sample length and width specifications, enable the sample to be accurately positioned in the coordinate system of the camera in the image measuring instrument, ensuring that the sample can be accurately focused and the boundaries are clear, thereby ensuring the test accuracy.

[0094] In some embodiments, step S31, setting the measurement procedure for sample length and width, includes:

[0095] (1) After the sample is placed on the worktable of the image measuring instrument, turn on the lower light source of the image measuring instrument and adjust the focus according to the projected sample until the sample boundary is clear.

[0096] (2) Establish a coordinate system in the image based on the length and width specifications of the sample; specifically, establish a coordinate system in the lower right corner of the sample in the image based on the length and width of the sample.

[0097] (3) Use the image edge-finding measurement method to measure the length and width of the sample. After the measurement is completed, turn off the lower light source.

[0098] Specifically, when using the image-based variation measurement method, draw a rectangle at the line to be measured, and double-click the left mouse button within the rectangle to obtain the line. Then, take a line at any position on the boundary of the sample's width direction using the same method, and then take another line at the opposite boundary position. Combine these two lines as a group and calculate the distance between them, recording it as the length. Repeat this process twice to obtain three length values. Using the same method, take a line along the length direction of the sample and measure three width values.

[0099] In some embodiments, step S32, setting the sample height measurement procedure, includes:

[0100] (1) Turn on the upper light source of the image measuring instrument and focus according to the image displayed by the image measuring instrument until the sample surface is clear;

[0101] (2) Select autofocus to obtain the current coordinate value and record the height of the sample;

[0102] (3) Move the worktable of the image measuring instrument, focus on the plane of the worktable and adjust the focus until the surface of the worktable is clear, and obtain the height point of the worktable.

[0103] (4) Calculate the height of the sample based on the height of the sample and the height of the worktable.

[0104] In step (2), the worktable can be moved so that the camera focus is on different positions on the sample surface, and the height points at different positions on the sample surface can be obtained, thereby calculating multiple height values.

[0105] In step (4), the height value of the sample is equal to the difference between the height point of the sample and the height point of the worktable.

[0106] It should be noted that before performing automatic dimensional testing, the measurement program needs to be set up according to the above steps based on one of the samples. After the program is set up, automatic testing can be performed according to the program.

[0107] By using the above-described method of this invention to set up the test program, the image measuring instrument can be programmed to test porous ceramic material samples of different sizes, accurately locate samples of various sizes in the camera coordinate system, and achieve accurate measurement of length, width, and thickness.

[0108] In step S33, the output parameters of the measurement program are set, including the sample length, width and height values. When setting the storage path, a storage folder can be specified, and multiple samples can be set as a group to be output to a table and saved to a specified folder.

[0109] The measurement program designed in this invention can generate a test data table and store it in a designated location on the computer after each group / sample test is completed, which reduces the labor costs of paper records and data transfer and improves the level of automation.

[0110] The automated dimensional testing method of this invention reduces manual operation and greatly improves testing efficiency by automatically testing through a set program. The testing efficiency for each sample can be increased by about 60%.

[0111] Embodiments of the present invention also provide an automated dimensional testing device for porous ceramic materials, which can be used to implement the automated dimensional testing method described in the above embodiments.

[0112] like Figure 1 and Figure 2As shown, the automated dimensional testing equipment includes a sample stage 1, a material picker 2, a material receiver 3, a gripping device 4, an image measuring instrument 5, and a control device. The material picker 2 and the material receiver 3 are placed side-by-side on the sample stage 1. The material picker 2 is used to hold the porous ceramic material sample to be tested, and the material receiver 3 is used to hold the sample after testing. The gripping device 4 is located between the sample stage 1 and the image measuring instrument 5, with the material picker 2 and the material receiver 3 positioned on opposite sides of the gripping device 4. The gripping device 4 is used to grip and move the sample. The control device is located on the opposite side of the image measuring instrument 5 away from the sample stage and is used to control the operation of the gripping device 4 and the image measuring instrument 5.

[0113] The control device is used to: control the gripping device 4 to grip the porous ceramic material sample in the material rack 2 and place it on the image measuring instrument 5; control the image measuring instrument 5 to automatically measure the size of the sample; and control the gripping device 4 to grip the measured sample and place it in the receiving rack 3.

[0114] The device of this invention automatically grasps the sample using a gripping device and places it on an image measuring instrument. The image measuring instrument automatically measures the sample size, and after measurement, the gripping device automatically collects the sample. This achieves automatic measurement of the size of porous ceramic material samples, reducing manual operation and greatly improving measurement efficiency. Furthermore, the introduction of a high-precision, high-efficiency image measuring instrument enables accurate dimensional testing.

[0115] like Figure 1 and Figure 2 As shown, a support platform 6 is provided on the side of the image measuring instrument 5 away from the sample stage 1, and the control device and display can be placed on the support platform 6. The control device can use the program from the aforementioned automated dimensional testing method to control the operation of the gripping device 4 and the image measuring instrument 5.

[0116] Specifically, the image measuring instrument is a commercially available image measuring instrument, which includes a high-resolution CCD camera, a coaxial laser, a continuous zoom objective lens, a precision grating ruler, and a high-precision work stage, etc. It can convert geometric displacement into digital signals to achieve accurate measurement of sample size.

[0117] In some embodiments, the gripping device 4 includes a robotic arm and an air compressor. The robotic arm is disposed between the sample stage 1 and the image measuring instrument 5. The robotic arm can move and rotate in multiple directions. The sampling end of the robotic arm is provided with a sampling suction cup. The air compressor is connected to the robotic arm and is used to provide negative pressure to the sampling suction cup. The sampling suction cup is used to grip the sample using negative pressure.

[0118] This invention introduces a robotic arm for precise sample identification, grasping, and return, achieving accurate sample identification. The sample is grasped using the negative pressure of a sampling suction cup, and stable sample grasping can be achieved by adjusting the suction cup pressure.

[0119] Specifically, the robotic arm is preferably a four-axis robotic arm, which has four degrees of freedom in the direction of movement, enabling flexible movement, fewer joints, and faster response speed.

[0120] In some embodiments, the sampling suction cup is detachably mounted on the sampling end of the robotic arm. Different sizes of sampling suction cups can be replaced according to the size specifications of the sample, so that the size of the sampling suction cup does not exceed the size of the plane in contact with the sample and the sampling suction cup, thus ensuring stable sample gripping.

[0121] In some embodiments, such as Figure 3 As shown, the material rack 2 includes multiple identical sample cells 21 arranged in an array, each sample cell 21 being used to place porous ceramic material samples.

[0122] The receiving rack 3 has the same structure as the picking rack 2. The dimensions and the number of sample cells of the picking rack 2 and the receiving rack 3 can be the same or different. Preferably, the dimensions and the number of sample cells of the receiving rack 3 and the picking rack 2 are the same, which facilitates the writing of sampling and receiving procedures during production and dimensional testing.

[0123] Specifically, the material rack 2 includes a rectangular sample tray 22 and multiple partition plates 23. The multiple partition plates 23 are connected inside the rectangular sample tray 22 and are perpendicularly connected to each other to form a grid. The spacing between adjacent partition plates 23 in the same direction is consistent, so that the rectangular sample tray 22 is divided into multiple identical sample cells 21 to accommodate multiple samples of the same size and specifications, which facilitates the size measurement of porous ceramic material samples of the same batch.

[0124] Due to the limited operating space of the robotic arm, the placement area of ​​the picking rack 2 and the receiving rack 3 is fixed, and the size of each sample compartment in the picking rack 2 and the receiving rack 3 must be larger than the size of the sample.

[0125] Therefore, in some embodiments of the present invention, in order to accommodate samples of different sizes, multiple picking racks 2 and receiving racks 3 of different specifications can be designed and customized accordingly. The picking rack 2 or receiving rack 3, while ensuring that the specified placement area is not exceeded, should have as many sample compartments 21 as possible, and the size of the sample compartments 21 should be slightly larger than the size of the sample, so that it can be used to test porous ceramic samples of different sizes and accommodate more samples.

[0126] In other embodiments of the present invention, multiple partition plates 23 in the material picker 2 are detachably connected to the rectangular sample tray 22, and the multiple partition plates 23 are detachably connected to each other. By disassembling and assembling the multiple partition plates 23, the distance between adjacent partition plates 23 can be changed, thereby changing the size of the assembled sample grid 21 to suit the measurement of samples of different sizes and specifications.

[0127] The automated dimensional testing equipment of this invention is designed with different sized pick-up and take-up racks for porous ceramic materials of different sizes, which facilitates the precise positioning of samples of various sizes. It can perform efficient and high-precision automated testing of the dimensions of porous ceramic material samples of different sizes and has a certain degree of versatility.

[0128] In addition, such as Figure 1 and Figure 2 As shown, the automated dimensional testing equipment also includes protective railings 7. One protective railing 7 is set on one side of the sample stage 1, the gripping device 4 and the image measuring instrument 5, and the other protective railing 7 is set on the other side of the sample stage 1. The two protective railings 7 are set perpendicular to each other to protect the gripping device 4 and the image measuring instrument 5, so as to avoid interference with their operation and affect the accuracy of the test results.

[0129] The following specific embodiments further illustrate the automated dimensional testing method for porous ceramic materials of the present invention.

[0130] Example 1

[0131] Adopting such Figure 1 The automated dimensional testing equipment for porous ceramic materials shown is used to test the dimensions of porous ceramic material samples with dimensions of 120mm × 16mm × 16mm. A sample picker with 10 × 2 (x-direction × y-direction) sample compartments is selected, with each sample compartment having a length of 22.6mm along the x-direction and 159.6mm along the y-direction. The receiving rack is the same as the picker.

[0132] Number the samples and place them in the pick-up rack in sequence, with one sample in each sample compartment.

[0133] Using a sampling suction cup with dimensions of 10mm × 30mm, the suction cup pressure of the air compressor was set to 0.70MPa.

[0134] Based on the positions of the picking rack, the image measuring instrument, and the receiving rack, the movement positions and programs of the robotic arm are set, including translational and rotational movements.

[0135] The sampling and receiving procedures are set according to the dimensions of the picking rack and receiving rack, as well as the size and specifications of the samples.

[0136] Specifically, the test procedure (excluding the robot arm positioning procedure) is as follows:

[0137] Material picking rack

[0138] GV0x offset

[0139] GV1y offset

[0140] GV2 material height, set to a positive number.

[0141] GV8 material handling inspection times

[0142] GV9 sample quantity per sample cell

[0143] Gv202z offset (material height × quantity taken per sample cell: GV2 × GV9) receiving rack

[0144] GV10x offset

[0145] GV11y offset

[0146] GV12 material height, set to a negative number.

[0147] GV19 sample cell quantity

[0148] GV202z offset (material thickness × quantity per sample cell: GV12 × GV19) GV200, GV201, and GV202 are dedicated addresses for offset commands.

[0149] All necessary global variables should be assigned the value 0 first.

[0150] While GV0≤159.6 (maximum offset of the pick-up rack in the y direction)

[0151] While GV1≤203.4(maximum offset of the picker in the x-direction)↓

[0152] Global variable operation GV2 = 16.1 (sample height)

[0153] Global variable operation GV200 = GV1 (assigns the value of GV0 to GV200)

[0154] Global variable operation: GV201 = GV0 (assigns the value of GV1 to GV201)

[0155] Global variable operation GV202 = GV9 × GV2(z offset) ↓

[0156] Offset: User coordinate system A1

[0157] Curvilinear motion - linear motion: Offset of the material pick-up position: User coordinate system A1

[0158] Curvilinear motion - linear motion: Material pick-up position offset: User coordinate system A1

[0159] Curvilinear motion - linear motion: material is picked up and the object leaves the position.

[0160] ↓

[0161] After taking one material

[0162] Global variable operation: GV8 = GV8 + 1 (records the number of material pick-up checks)

[0163] Global variable operation: GV9 = GV9 + 1 (records the quantity of material taken from one sample cell)

[0164] Detection

[0165] ↓

[0166] Feeding:

[0167] Global variable operation: GV12 = -16.1 (sample height, a negative number)

[0168] Global variable operations: GV200 = GV10 (assigns the value in GV10 to GV200) Global variable operations: GV201 = GV11 (assigns the value in GV11 to GV201) Global variable operations: GV202 = GV19 × GV2 (z offset)

[0169] ↓

[0170] Startup interval offset: User coordinate system A2

[0171] Curvilinear motion - linear motion: Preparing for unloading position; Curvilinear motion - linear motion: Unloading position; Curvilinear motion - linear motion: Leaving the unloading position after unloading.

[0172] Stop interval offset

[0173] ↓

[0174] After placing one sample

[0175] Global variable operation: GV19 = GV19 + 1 (material feeding count)

[0176] If GV19 = 1 (the count is full, execute the following program)

[0177] Global variable operation: GV19 = 0 (reset the counter to zero)

[0178] Global variable operation: GV10 = GV10 + 22.6 (the receiving rack is offset by 22.6 in the x-direction)

[0179] if GV10 > 203.4 (maximum offset in the x-direction)

[0180] Global variable operation: GV10 = 0 (when the x-direction offset is greater than 203.4, the x-offset is assigned the value 0)

[0181] Global variable operation: GV11 = GV11 + 159.6 (y-direction offset of 159.6)

[0182] End if

[0183] End if

[0184] ↓

[0185] If GV9 = 1 (the count is full, execute the following program).

[0186] Global variable operation: GV9 = 0 (reset material pick-up count to zero)

[0187] Global variable operation: GV0 = GV0 + 22.6 (x-direction offset 22.6)

[0188] End if

[0189] ↓

[0190] if GV8 = 20 (the program stops when the count reaches 20)

[0191] Global variable operations: Stop the program

[0192] End if

[0193] ↓

[0194] Continue (determines whether to execute the loop again, GV1≤203.4)

[0195] End while (loop ends)

[0196] Global variable operation: GV1 = GV0 + 159.6 (y-direction offset of 159.6)

[0197] Global variable operation: GV1 = 0 (y-direction offset assigned a value of 0)

[0198] Continue (determines whether to execute the loop again if GV0≤159.6)

[0199] End while (loop ends)

[0200] Place a sample on the stage of the image measuring instrument and set the image measuring instrument program according to the sample size:

[0201] (1) Turn on the lower light source and focus according to the projected sample until the sample boundary is clear.

[0202] (2) Establish a coordinate system in the lower right corner of the sample in the image, based on its length and width.

[0203] (3) Element measurement using image edge finding measurement: Take a straight line at any position on the boundary of the sample in the width direction, and then take a straight line at the opposite boundary position. The two lines are a group, and the distance between the two lines is calculated and recorded as the length. Repeat the above operation twice to measure three length values.

[0204] (4) Repeat step (3) and take a straight line on the length direction boundary of the sample to measure three width values.

[0205] (5) Turn off the lower light source and turn on the upper light source. Focus according to the displayed image until the sample surface is clear. Select autofocus to obtain the current coordinate value and record the height point. Move the stage to focus on other positions of the sample and repeat the above operation to obtain three height points. Move the stage and align the CCD camera focus with the glass plane of the stage. Focus until a clear image is obtained and obtain the height points. Calculate the distance from the three height points to the stage to obtain three height values.

[0206] (6) Set the output length, width and thickness values ​​of the software. Output an Excel spreadsheet for every 5 samples and save it in the specified folder.

[0207] The sample size was automatically tested according to the above procedure. The testing process is as follows:

[0208] S41, set the initial x-offset X = 0, y-offset Y = 0, the number of samples already taken in one sample cell j = 0, z-offset Z = 16 × j, and the number of sampling tests N = 0 during sampling;

[0209] S42, control the robotic arm to start from the initial ready-to-grab position of the picking grid, offset according to the set offset amount, and perform a curved-linear motion to pick up a sample from the sample grid of the picking rack and place it on the image measuring instrument; after the sample test is completed, the robotic arm grabs the sample on the image measuring instrument and places it in the receiving rack; and records the number of samples taken in a sample grid j = j + 1, and the number of sampling tests N = N + 1;

[0210] S43, control the robotic arm to return to the initial ready-to-pick-up position, set the z offset Z = 16 × j, repeat step S42 until the sampled quantity j = 1;

[0211] S44, set the number of samples already taken in a sample cell j = 0, the x offset X = X + 22.6, the robotic arm returns to the initial ready-to-take position, and repeats the above steps S42 to S43;

[0212] S45, repeat steps S42 to S44 above until the offset of the robotic arm in the x direction X > 203.4 mm;

[0213] S46, set the number of samples already taken in a sample cell j=0, the x offset X=0, the y offset Y=Y+159.6, control the robotic arm to return to the initial ready-to-take position, and repeat the above steps S42~S45;

[0214] S47. Repeat steps S42 to S46 until the offset Y of the robotic arm in the y direction is greater than 159.6 mm, and the number of sampling tests of the robotic arm is N = 20.

[0215] Five samples were used to form one batch, and the test data are shown in Table 1. The sample volume was calculated based on the test data in Table 1, and the results are shown in Table 2.

[0216] Table 1. Dimensional measurement results of porous ceramic material samples in Example 1

[0217]

[0218] Table 2. Volume of porous ceramic material samples in Example 1

[0219]

[0220]

[0221] Comparative Example 1

[0222] The dimensions of the porous ceramic material sample in Example 1 were measured manually, and the specific steps are as follows:

[0223] (1) Use a vernier caliper to measure the size of the sample at three points evenly distributed in each characteristic direction of the sample, accurate to 0.01 mm.

[0224] (2) Take the arithmetic mean of the three points as the dimension of the sample in that direction, and then calculate the volume of the sample.

[0225] Each batch consisted of 5 samples, and the test results are shown in Tables 3 and 4.

[0226] Table 3 shows the dimensional measurement results of the porous ceramic material samples in Comparative Example 1.

[0227]

[0228] Table 4 shows the volume measurement results of the porous ceramic material samples in Comparative Example 1.

[0229]

[0230]

[0231] Figure 1 This is a comparison chart of the size test values ​​of porous ceramic materials in Embodiment 1 and Comparative Example 1 of the present invention; Figure 2This is a comparison chart of the volume test values ​​of porous ceramic materials in Example 1 and Comparative Example 1 of the present invention. (See Tables 1, 2, 3, and 4.) Figure 1 and Figure 2 It can be seen that the results of dimensional testing using automated testing equipment and methods are basically consistent with those of manual testing, with high accuracy and small deviation.

[0232] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. An automated method for testing the dimensions of porous ceramic materials, characterized in that, The method includes: Step S1: Number the multiple samples and place them in the sample compartments of the picking rack in sequence, and place a blank receiving rack next to the picking rack. Step S2: Based on the size specifications of the sample, the size of the picking rack and the receiving rack, and the number of samples, set the sampling program and receiving program of the robotic arm; Step S3: Based on the size specifications of the sample, set up a measurement program for measuring the size of the sample using an image measuring instrument; Step S4: According to the sampling procedure, control the robotic arm to pick up a sample from the picking rack and place it on the image measuring instrument; according to the measurement procedure, control the image measuring instrument to measure the size of the sample; according to the sample receiving procedure, control the robotic arm to receive the sample into the receiving rack until all samples are measured.

2. The method according to claim 1, characterized in that, In step S1, the number of samples placed in each sample cell is the same, and at least one sample is placed in one sample cell, while multiple samples are stacked in the sample cells.

3. The method according to claim 2, characterized in that, In step S2, setting the sampling program for the robotic arm includes: Based on the dimensions of the material handling rack, the x-offset and y-offset of the robotic arm in the x and y directions of the material handling rack are set; The maximum number of samples that the robotic arm can take in each sample cell is set according to the number of samples stacked in each sample cell; Based on the thickness of the sample and the number of samples in each sample cell, the z-offset of the robotic arm in the z-direction of the picking rack is set; The maximum number of sampling and testing operations for the robotic arm is set according to the number of samples in the sampling rack.

4. The method according to claim 3, characterized in that, Step S4 includes: S41, set the initial x offset X = 0, y offset Y = 0, the number of samples taken in one sample cell j = 0, z offset Z = sample height × j, and the number of sampling and detection times N = 0; S42, control the robotic arm to start from the initial ready-to-receive position of the picking grid, offset according to the set offset amount, and perform a curve-to-linear motion to pick up a sample from the sample grid of the picking rack and place it on the image measuring instrument; after the sample test is completed, the robotic arm grabs the sample on the image measuring instrument and places it in the receiving rack; let the number of samples taken in a sample grid be j = j + 1, and let the number of sampling tests be N = N + 1; S43, control the robotic arm to return to the initial ready-to-take position, let the z offset Z = sample height × j, repeat step S42 until the sampled quantity j reaches the maximum sampled quantity; S44, set the number of samples j = 0 in a sample cell, the x offset X = X + the length of the sample cell in the x direction, control the robotic arm to return to the initial ready-to-take position, and repeat the above steps S42 to S43; S45, repeat steps S42 to S44 above until the displacement of the robotic arm in the x direction exceeds the maximum displacement in the x direction; S46, set the number of samples already taken in a sample cell j = 0, the x offset X = 0, the y offset Y = Y + the length of the sample cell in the y direction, control the robotic arm to return to the initial ready-to-take position, and repeat the above steps S42 to S45; S47. Repeat steps S42 to S46 until the offset of the robotic arm in the y direction exceeds the maximum offset in the y direction, and the number of sampling and detection times of the robotic arm reaches the maximum value.

5. The method according to claim 1, characterized in that, Step S3 includes: Based on the length and width specifications of the sample, set up the measurement procedures for the length and width of the sample; Based on the height specifications of the sample, set up a measurement procedure for the sample height; Configure the output parameters and storage path of the measurement program.

6. The method according to claim 5, characterized in that, In step S3, the measurement program for the sample length and width is set, including: Take one of the samples and place it on the worktable of the image measuring instrument; Focus the projected sample until the sample boundaries are clear. Establish a coordinate system within the image based on the length and width specifications of the sample; The length and width of the sample were measured using the image edge-finding measurement method.

7. The method according to claim 5, characterized in that, In step S3, the measurement procedure for the sample height is set, including: Focus according to the image displayed by the image measuring instrument until the sample surface is clear; Select autofocus to obtain the current coordinate value, and record the height point of the sample; Move the worktable of the image measuring instrument and focus on the plane of the worktable until the surface of the worktable is clear, thus obtaining the height point of the worktable. The height of the sample is calculated based on the height point of the sample and the height point of the worktable.

8. An automated dimensional testing device for porous ceramic materials, characterized in that, The method for implementing the method according to any one of claims 1-7 includes: a sample stage, a material picker, a material receiver, a gripping device, an image measuring instrument, and a control device; The picking rack and the receiving rack are placed side by side on the sample stage. The picking rack is used to hold the porous ceramic material sample to be tested, and the receiving rack is used to hold the sample after the test is completed. The gripping device is disposed between the sample stage and the image measuring instrument, and the placement positions of the material picker and the material receiver correspond to the two sides of the gripping device; the gripping device is used to grip and move the sample; The control device is located on the other side of the image measuring instrument away from the sample stage. The control device is used to: control the gripping device to grip the sample in the picking rack and place it on the image measuring instrument; control the image measuring instrument to automatically measure the size of the sample; and control the gripping device to grip the measured sample and place it in the receiving rack.

9. The device according to claim 8, characterized in that, The gripping device includes a robotic arm and an air compressor; The robotic arm is positioned between the sample stage and the image measuring instrument. The robotic arm can move and rotate in multiple directions. The sampling end of the robotic arm is equipped with a sampling suction cup. The air compressor is connected to the robotic arm and is used to provide negative pressure to the sampling suction cup. The sampling suction cup is used to grasp the sample using negative pressure.

10. The device according to claim 9, characterized in that, The sample rack includes multiple identical sample compartments arranged in an array, which are used to place the samples.

Images