Transfer table for placing broken cement mortar test piece

Abstract

The utility model discloses a transfer table for placing a fractured cement mortar test piece, which belongs to the technical field of fracture resistance and compression resistance tests of the cement mortar test piece and is used for bearing the cement mortar test piece after the fracture resistance test, and a clamping jaw of a mechanical arm can clamp the cement mortar test piece on the transfer table in the vertical direction. Through the arrangement of the transfer table, the clamping jaw of the mechanical arm can place the test piece on the anti-bending testing machine on the transfer table through vertical clamping, then the mechanical arm clamps the scraping plane and the surface opposite to the scraping plane of the test piece on the transfer table, and then the test piece is placed on the objective table of the anti-compression testing machine, so that the anti-compression testing is completed.

Description

Technical Field

[0001] The utility model belongs to the technical field of flexural and compressive testing of cement mortar specimens, and particularly relates to a turntable for placing broken cement mortar specimens. Background Art

[0002] With the intelligent transformation of related industries, cement mortar specimen strength testing is now gradually being automated. Cement mortar specimen strength testing involves first subjecting the specimen to a flexural strength test, followed by a compressive strength test on the specimen after flexure. Automating this mortar specimen strength testing process involves transferring the specimen from a flexural testing machine to a compressive testing machine, and using a robotic arm to grip the specimen for this transfer is a feasible technical solution.

[0003] However, the robot arm cannot usually directly clamp the specimen on the stage of the flexural testing machine and place it on the stage of the compression testing machine for compressive strength testing. Figure 1 and Figure 2 ,in Figure 1 It is the placement requirement of cement mortar specimens on the flexural testing machine. Figure 2 These are the requirements for placing cement mortar specimens on a compression testing machine. The surface of the specimen with a diagonal line is the scraped surface. It can be seen that the placement requirements for specimens on the loading platform of a flexural testing machine and the loading platform of a compression testing machine are different. Specifically, on the loading platform of a flexural testing machine, the scraped surface of the specimen should face forward, while on the loading platform of a compression testing machine, the scraped surface of the specimen should face right. At the same time, if the robotic arm grasps the specimen by means of a gripper, and the gripper grips the specimen on the loading platform of the flexural testing machine in the left and right directions, due to the structure of the flexural testing machine, the gripper is likely to interfere with the left and right structure of the flexural testing machine. It is more convenient to grip the specimen on the flexural testing machine from the top and bottom directions. If the gripper grabs the specimen from the loading platform of the flexural testing machine in the up-down direction, the robotic arm must place the specimen gripped in the up-down direction onto the loading platform of the compression testing machine with the scraping surface of the specimen facing right. The gripper is in the up-down direction, and the gripper distributed up and down is likely to interfere with the up-down structure of the compression testing machine. At this time, the robotic arm cannot rotate the gripper 90° to change the gripper from the up-down direction to the left-right direction, thereby avoiding interference between the gripper and the up-down structure of the compression testing machine. This is because once the gripper rotates, the scraping surface of the specimen clamped by the gripper will also rotate 90°. In this way, after the specimen is placed on the loading platform of the compression testing machine, the placement of the specimen will not meet the requirement of the scraping surface facing right.

[0004] Therefore, in order to realize the automated operation of cement mortar specimen strength test, based on the robotic arm clamping the specimen through the gripper, a technical problem exists: how to make the robotic arm clamp the specimen on the flexural test machine and accurately place it on the compression test machine. Utility Model Content

[0005] In view of this, the utility model provides a turntable for placing broken cement mortar specimens, which solves the technical problem that the robotic arm cannot complete the transfer of the specimen from the flexural testing machine to the compressive testing machine by clamping the specimen due to different specimen placement requirements and interference between the robotic arm and the flexural testing machine and the compressive testing machine, thereby affecting the automated implementation of the specimen flexural strength test and the compressive strength test.

[0006] The utility model adopts the following technical solutions:

[0007] A turntable for placing broken cement mortar specimens, the turntable is used to receive the cement mortar specimens after a flexural strength test, and the grippers of a robotic arm can grip the cement mortar specimens on the turntable from top to bottom.

[0008] Furthermore, the transfer platform includes a first limiting portion;

[0009] The first limiting portion is provided with a horizontal support member, and the horizontal support member is used to place the cement mortar test piece and limit the upper and lower positions of the cement mortar test piece;

[0010] The horizontal support member is provided with an opening so that the clamping claw of the robotic arm can clamp the cement mortar specimen on the horizontal support member from the upper and lower directions.

[0011] Furthermore, the width of the horizontal support member is smaller than the width of the cement mortar specimen;

[0012] Second limiting portions are provided on both sides of the horizontal support member in a lateral direction. The height of the second limiting portions is greater than that of the first limiting portions, and the second limiting portions can move in a lateral direction of the horizontal support member.

[0013] The second limiting portion is used to limit the left and right positions of the cement mortar test piece placed on the horizontal support member.

[0014] Furthermore, the transfer station further includes a base;

[0015] The first limiting portion is fixed to the base;

[0016] The second limiting portion is installed on the base, and the second limiting portion includes two clamping plates and a power for driving the two clamping plates to move.

[0017] Furthermore, the power is pneumatic, electric or hydraulic drive.

[0018] Furthermore, the maximum distance between the two clamping plates in the second limiting portion can be adjusted.

[0019] Furthermore, the base can be fixed to another object by bolt connection, welding or magnetic attraction.

[0020] Beneficial effects:

[0021] 1. The utility model provides a turntable for placing broken cement mortar specimens. The turntable is used to receive the cement mortar specimens after the flexural strength test, and the grippers of the robotic arm can grip the cement mortar specimens on the turntable from the top and bottom directions.

[0022] In this way, by setting up a turntable, the gripper of the robotic arm can first clamp the specimen on the flexural testing machine up and down and place it on the turntable (so that the scraping plane is in the up and down direction), and then the robotic arm clamps the scraping plane of the specimen on the turntable and the surface opposite to the scraping plane, and then places it on the loading platform of the compression testing machine to complete the compression test. In other words, for the flexural testing machine, interference is likely to occur in the left and right directions, and it is necessary to clamp in the up and down directions. For the compression testing machine, interference is likely to occur in the up and down directions, and the gripper needs to be located in the left and right directions to successfully place the specimen. By rotating the up and down gripper to become left and right gripper, the orientation of the scraping plane of the specimen on the compression testing machine does not meet the requirements. By setting up a turntable, the specimen on the flexural testing machine can be clamped up and down and placed on the turntable, and then the gripper clamps the scraping plane of the specimen on the turntable and the surface opposite to the scraping plane. In this way, the robotic arm can rotate so that the scraping plane is facing right. At this time, the gripper is also distributed left and right, and the specimen can be successfully placed on the loading platform of the compression testing machine for compression testing. In other words, the function of the turntable is similar to providing an opportunity for the gripper of the robotic arm to change the gripping method of the specimen, so that the specimen can be transferred from the flexural testing machine to the compression testing machine for compression testing by gripping.

[0023] 2. The turntable includes a first limiting portion; the first limiting portion is provided with a horizontal support member, which is used to place the cement mortar specimen and limit the upper and lower positions of the cement mortar specimen; the horizontal support member is provided with an opening so that the gripper of the robotic arm can clamp the cement mortar specimen on the horizontal support member from the upper and lower directions.

[0024] In this way, the robotic arm can clamp the test piece placed on the horizontal support member in the vertical direction through the opening provided on the horizontal support member, and the structure is simple and compact.

[0025] 3. The width of the horizontal support member is smaller than the width of the cement mortar specimen; a second limiting portion is provided on both lateral sides of the horizontal support member, the height of the second limiting portion is greater than the height of the first limiting portion, and the second limiting portion can move laterally along the horizontal support member; the second limiting portion is used to limit the left and right positions of the cement mortar specimen placed on the horizontal support member.

[0026] In this way, the second limiting portion can limit the left and right directions of the specimen, and the second limiting portion can move laterally, can clamp the two lateral sides of the specimen, and can level the specimen in the left and right directions. In this way, the specimen on the turntable always has a fixed position, so that the robotic arm only needs to perform the corresponding actions according to the program to realize the automated process of specimen clamping, and the reliability of the robotic arm in clamping the specimen will not be affected by the randomness of the specimen position.

[0027] 4. Power is pneumatic, electric, or hydraulic. Thus, the power source of the second limiter can be pneumatic, electric, or hydraulic. This provides a variety of power options to suit different operating environments and needs.

[0028] 5. The maximum distance between the two clamping plates in the second limiting part can be adjusted, which allows the turntable to adapt to test pieces of different sizes, improving the versatility and flexibility of the equipment.

[0029] 6. The base can be fixed to other objects by bolting, welding, or magnetic attraction. This provides multiple mounting options, allowing the turntable to be easily integrated into existing test equipment or workstations. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 This is a schematic diagram of a cement mortar specimen provided by the present invention placed on a loading platform of a flexural testing machine;

[0031] Figure 2 This is a schematic diagram of a cement mortar specimen provided by the present invention being placed on a loading platform of a compression testing machine;

[0032] Figure 3 This is a schematic structural diagram of a turntable for placing broken cement mortar specimens provided by the present invention;

[0033] Figure 4 This is a three-dimensional structural diagram of the automatic testing system for cement mortar specimen strength provided by the utility model;

[0034] Figure 5 yes Figure 3 Schematic diagram of the three-dimensional structure of the end effector of the robot arm;

[0035] Figure 6 yes Figure 1 Schematic diagram of the three-dimensional structure of the medium flexural and compression machine;

[0036] Figure 7 yes Figure 1 Schematic diagram of the three-dimensional structure of the test specimen storage device;

[0037] Among them, 1-base, 2-robotic arm, 3-waste bucket, 4-end effector, 5-turntable, 6-bending and compression tester, 7-specimen storage device, 8-air compressor, 41-clamping part, 42-mounting plate, 43-barcode scanner, 44-camera, 51-base, 52-first limit part, 53-second limit part, 61-discharge chute, 62-push rod, 63-nozzle, 71-switch door, 72-vertical steel bar, 73-horizontal steel plate, 74-specimen storage rack, 75-square discharge port, 76-first induction switch, 77-motor, 78-slide. DETAILED DESCRIPTION

[0038] The present invention is described in detail below with reference to the accompanying drawings and embodiments.

[0039] Example 1:

[0040] Reference Figures 1 to 3 This embodiment provides a turntable for placing broken cement mortar specimens. The turntable 5 is used to receive the cement mortar specimens after the flexural strength test, and the grippers of the robotic arm 2 can clamp the cement mortar specimens on the turntable 5 from the top and bottom directions.

[0041] In this way, by setting up the turntable 5, the grippers of the robot arm 2 can first clamp the specimen on the flexure tester and place it on the turntable 5 (with the scraped surface facing upward). The robot arm 2 then grips the scraped surface and the surface opposite the scraped surface of the specimen on the turntable 5 and places it on the loading platform of the compression tester to complete the compression test. In other words, for the flexure tester, interference is likely to occur in the left-right direction, requiring gripping in the up-down direction. For the compression tester, interference is likely to occur in the up-down direction, and the grippers need to be positioned in the left-right direction to successfully place the specimen. By rotating the upper and lower clamping to left and right clamping, the direction of the scraping surface of the specimen on the compression testing machine does not meet the requirements. By setting up the turntable 5, the specimen on the flexural testing machine can be clamped in the upper and lower directions and placed on the turntable 5. Then the clamping claws clamp the scraping surface of the specimen on the turntable 5 and the surface opposite to the scraping surface. In this way, the robotic arm can rotate to make the scraping surface face right. At this time, the clamping claws are also distributed left and right, and the specimen can be smoothly placed on the loading platform of the compression testing machine for compression testing. In other words, the function of the turntable 5 is similar to providing an opportunity for the clamping claws of the robotic arm 2 to change the clamping method when clamping the specimen, so that the specimen can be transferred from the flexural testing machine to the compression testing machine by clamping for compression testing.

[0042] Specifically, the turntable 5 includes a first limiting portion 52, which is provided with a horizontal support member for placing the cement mortar specimen and limiting its vertical position. The horizontal support member is provided with an opening, allowing the gripper of the robotic arm 2 to grasp the cement mortar specimen on the horizontal support member from the vertical direction. This allows the robotic arm 2 to grasp the specimen placed on the horizontal support member from the vertical direction through the opening provided in the horizontal support member, resulting in a simple and compact structure.

[0043] As an optimization, the width of the horizontal support member is smaller than the width of the cement mortar specimen; a second limiting portion 53 is provided on both sides of the horizontal support member, the height of the second limiting portion 53 is greater than the height of the first limiting portion 52, and the second limiting portion 53 can move laterally along the horizontal support member; the second limiting portion 53 is used to limit the left and right positions of the cement mortar specimen placed on the horizontal support member.

[0044] In this way, the second limiting portion 53 can limit the left and right directions of the specimen, and the second limiting portion 53 can move laterally, can clamp the two lateral sides of the specimen, and can level the specimen in the left and right directions. In this way, the specimen on the turntable 5 always has a fixed position, so that the robot arm 2 only needs to perform corresponding actions according to the program to realize the automated process of specimen clamping, and the reliability of the robot arm in clamping the specimen will not be affected by the randomness of the specimen position.

[0045] Specifically, in this embodiment, the turntable 5 also includes a base 51; a first limiting portion 52 is fixed to the base 51; a second limiting portion 52 is installed on the base 51, and the second limiting portion 52 includes two clamps and a power to drive the two clamps to move. Moreover, the power is pneumatic, electric or hydraulic, so that the power source of the second limiting portion 53 can be pneumatic, electric or hydraulic. In this way, a variety of power options are provided to adapt to different operating environments and needs. As a further optimization, the maximum distance between the two clamps in the second limiting portion 53 can be adjusted. In this way, the turntable 5 is allowed to adapt to test pieces of different sizes, improving the versatility and flexibility of the equipment. More specifically, in this embodiment, the base 51 can be fixed to another object by bolt connection, welding or magnetic attraction. In this way, a variety of installation methods are provided, so that the turntable 5 can be easily integrated into existing testing equipment or workstations.

[0046] More specifically, in this embodiment, the first limiting portion 52 includes a bracket, the bottom of the bracket is fixed to the base 51, and two square steel plates are horizontally fixed to the top of the bracket as horizontal supports. The two square steel plates are spaced a certain distance apart to form the above-mentioned opening, and the maximum width between the outer edges of the two square steel plates is slightly smaller than the width of the specimen. The second limiting portion 53 is provided on the base 51, and the turntable 5 is provided with a total of two second limiting portions 53, each of the second limiting portions 53 includes two square steel plates (used as clamping plates) and a power for driving the two steel plates to move, and the power can be pneumatic, electric or hydraulic drive, and the two movable steel plates are vertically and symmetrically distributed on both sides of the horizontal support in the first limiting portion 52, and can move toward or away from each other. When the two sections of the specimen are placed horizontally on the top surface of the horizontal support, because the maximum width between the outer edges of the two square steel plates is slightly smaller than the width of the specimen, the two movable steel plates can clamp the specimen when they move toward each other, so that the specimen can be leveled, which is convenient for the robot arm 2 to clamp the specimen on the turntable 5. When the robot arm 2 clamps the specimen on the turntable 5, if the two movable steel plates in the second limiting portion 53 clamp the specimen too tightly, the two movable steel plates can be loosened.

[0047] Example 2:

[0048] Based on the first embodiment, Figures 1 to 7 This embodiment provides a cement mortar specimen strength automatic testing system, including a specimen storage device 7, a flexural testing machine, a compression testing machine, a flexural cleaning mechanism, a compression cleaning mechanism, a robotic arm 2, and a host computer, wherein:

[0049] The specimen storage device 7 is used to store cement mortar specimens (or simply specimens); the flexural testing machine is used to perform flexural strength tests on cement mortar specimens; the compression testing machine is used to perform compressive strength tests on cement mortar specimens; the flexural cleaning mechanism is used to clean the loading platform of the flexural testing machine; the compression cleaning mechanism is used to clean the loading platform of the flexural testing machine; the robotic arm 2 can grab the cement mortar specimens on the specimen storage device 7 according to a preset program and place them on the loading platform of the flexural testing machine for flexural strength testing. The robotic arm 2 can also grab the cement mortar specimens that are folded into two pieces after the flexural strength test is completed to the compression testing machine for compressive strength testing; the upper computer is connected to the flexural testing machine and the compression testing machine by signal, and can record the flexural strength and compressive strength data of the cement mortar specimens. It should be noted that the above-mentioned flexural testing machine and compression testing machine can be integrated into one, and when integrated into one, they can be called flexural and compression machines 6.

[0050] In this way, the cement mortar specimen strength automatic testing system provided by the present invention integrates devices including a specimen storage device 7, a flexural testing machine, a compression testing machine, a flexural cleaning mechanism, a compression cleaning mechanism, a robotic arm 2, and a host computer. It is only necessary to prepare the specimen in the specimen storage device 7 to realize the fully automated operation of the flexural and compressive strength testing of the cement mortar specimen. The operation process of "placing the specimen - pressurizing - removing the specimen - recording data" can be performed by the robotic arm 2 according to the preset program, and no longer requires the operator to operate. After the cement mortar specimen strength automatic testing system is started, the test data can be automatically uploaded to the host computer, and the operator can do other work. The operator no longer needs to mechanically repeat the operation of "placing the specimen - pressurizing - removing the specimen - recording data", thereby improving productivity and avoiding the problem of traditional manual operation affecting the accuracy of the test results. It should be noted that in the prior art, there are already flexural testing machines and compression testing machines that automatically upload test data to a computer. Moreover, it can be understood that the specimen storage device 7, anti-flexural cleaning mechanism, anti-compressive cleaning mechanism, and robotic arm 2 corresponding to the above functions can be fully realized through existing technology, and the fully automated operation of the flexural and compressive strength test of the cement mortar specimen can be realized according to the above technical solution.

[0051] Specifically, in this embodiment, the specimen storage device 7 includes a storage part and a feeding part; the storage part is used to place the cement mortar specimen; the feeding part is used to transport the cement mortar specimen to a preset position so that the robotic arm 2 can grab the cement mortar specimen.

[0052] In this way, the specimen storage device 7 is designed with a storage part and a feeding part, which optimizes the specimen management process. The storage part can store a large number of specimens, and the setting of the feeding part allows the specimens to be transported to a position accessible to the robot arm 2 in an orderly manner. This design improves the efficiency of specimen storage and retrieval, reduces the waiting time of the robot arm 2, and further improves the degree of automation of the entire testing process.

[0053] Specifically, in this embodiment, the feeder conveys cement mortar specimens vertically. This vertical conveying design saves space, allowing specimens to be stacked and conveyed vertically in the direction of gravity. Compared to horizontal conveying, this reduces potential specimen misalignment during horizontal movement, facilitating grasping by the robotic arm 2. It will be appreciated that in addition to the vertical conveying provided in this embodiment, horizontal or inclined conveying of specimens to a position accessible to the robotic arm 2 is also feasible.

[0054] Specifically, in this embodiment, referring to Figure 4 and Figure 7The storage section includes at least one square storage compartment capable of accommodating stacked cement mortar specimens. The compartment limits the horizontal freedom of the cement mortar specimens, and a square discharge port 75 is located above the compartment for discharging the cement mortar specimens. This design allows for vertical stacking of multiple cement mortar specimens, optimizing space utilization. This significantly improves storage efficiency, particularly in limited laboratory or factory environments. The square storage compartment not only provides a structured storage solution but also ensures specimen stability during storage and discharge by limiting the specimens' horizontal freedom, reducing the potential risk of damage caused by specimen movement or misalignment. The shape of the square discharge port 75 matches the specimen's shape, helping to maintain neat specimen alignment and providing an accurate grasping point for the robotic arm 2. This simplifies the robotic arm's grasping logic and motion path, as the specimen's position is more fixed and predictable. This design reduces the robotic arm's search and positioning time when grasping the specimen, improving the efficiency of the entire testing process.

[0055] Specifically, in this embodiment, the feeding portion includes a lifting member, a moving member, and a driving member. One end of the lifting member is connected to the moving member, and the other end extends into the square storage room. The lifting member is used to lift the cement mortar specimen in the square storage room. The moving member is power-connected to the driving member, and the driving member can drive the moving member to move vertically. When the moving member moves vertically, it can drive the lifting member to move upward, so that the cement mortar specimen in the square storage room moves from bottom to top and is discharged from the square discharge port 75. In this way, through the coordinated work of the lifting member, the moving member, and the driving member, the specimen is accurately transported from bottom to top. This design improves the stability of specimen transportation, reduces test interruptions or errors caused by specimen sliding or tipping, and thus improves the reliability of the entire testing system.

[0056] Specifically, in this embodiment, the feeding part also includes a guide rail and a screw rod, and the moving part is a slide 78, which is threadedly engaged with the screw rod and slidingly engaged with the guide rail; the driving part is a motor 77, which is power-connected to the screw rod, and the motor 77 can drive the slide 78 to move vertically; the lifting part is a horizontal steel plate 73 arranged horizontally; the square discharge port 75 is provided with a first induction switch 76, and when the cement mortar specimens stacked on the top layer come out of the square discharge port 75, the first induction switch 76 triggers the motor 77 to stop. In this way, when the first induction switch 76 is set so that when the top layer of cement mortar specimens completely comes out of the square discharge port 75, the motor 77 can automatically stop rotating to ensure that the specimens do not extend too much out of the square discharge port 75. This design improves the safety and control accuracy of the discharge process. After the robot arm 2 grabs the top layer of specimens, the first induction switch 76 triggers the motor 77 again to drive the slide 78 to move upward, thereby realizing the automatic delivery of the next layer of specimens to the square discharge port 75, improving the efficiency and continuity of specimen delivery.

[0057] Moreover, in this embodiment, the feeding section further includes a second induction switch and a third induction switch (the second induction switch and the third induction switch are not shown in the figure). When the slide 78 moves to the upper limit position, the second induction switch triggers the motor 77 to reverse, causing the slide 78 to move downward. When the slide 78 moves to the upper limit position, the cement mortar specimens in the bottom layer of the square storage room have already been completely ejected from the square discharge port 75. When the slide 78 moves downward to the lower limit position, the third induction switch triggers the motor 77 to stop rotating. In this way, the triggering condition of the second induction switch is that the slide 78 moves to the upper limit position and the bottom layer of specimens have completely emerged from the square discharge port 75. That is, when the slide 78 moves to the upper limit position, it can ensure that all specimens in the square storage room have already been ejected from the square discharge port 75. This ensures the continuity and stability of specimen transportation and ensures that there are specimens ready for grabbing by the robot arm 2 at any time. Moreover, because the cement mortar specimens in the bottom layer of the square storage room have all come out from the square discharge port 75, the motor 77 is triggered to reverse and the slide 78 moves downward. The downward movement of the slide 78 will drive the lifting piece extending into the square storage room to move downward as well. In this way, after all the specimens in the square storage room have been discharged from the square discharge port 75, the square storage room can be prepared for the next storage. The design of the entire feeding part does not require manual intervention, and the entire automation process is smoother and more automated.

[0058] Specifically, in this embodiment, referring to Figure 4The robot arm 2 is equipped with a barcode scanner 43 for scanning the information code on the cement mortar specimen to obtain information about the cement mortar specimen, including the specimen number. This allows the robot arm 2 to automatically obtain the specimen identification information, so that each specimen number can correspond to its own flexural strength and compressive strength data, which facilitates specimen traceability and quality management.

[0059] In addition, in this embodiment, a camera 44 is also provided on the robot arm 2. The camera 44 can obtain the position of the cement mortar specimen on the specimen storage device 7, and is used to assist in adjusting the posture of the end effector 4 of the robot arm 2 when necessary. This enables the robot arm 2 to grasp the specimen more reliably. It should be noted that the camera 44 is not necessary, because in the cement mortar specimen strength automatic testing system, under normal circumstances, the position of the specimen is determined, so the robot arm 2 only needs to run according to the planned action to achieve the grasping of the specimen. The provision of the camera 44 allows the robot arm 2 to grasp the specimen smoothly even when the position of the specimen deviates due to unexpected circumstances.

[0060] Specifically, in this embodiment, the robotic arm 2 can first grab the specimen that is folded into two parts after the flexural strength test is completed and place it on the turntable 5 according to a preset program, and then grab the two half specimens on the turntable 5 and place them on the compression testing machine for compressive strength testing.

[0061] Because the placement requirements of the specimens on the loading platform of the flexural testing machine and the loading platform of the compression testing machine are different, specifically, refer to Figure 1 and Figure 2On the loading platform of the flexural testing machine, the scraped surface of the specimen should face forward, while on the loading platform of the compression testing machine, the scraped surface of the specimen should face right. At the same time, if the end effector 4 of the robot arm 2 grabs the specimen by means of a clamping claw, and the clamping claw clamps the specimen on the loading platform of the flexural testing machine in the left and right directions, due to the structure of the flexural testing machine, the clamping claw is likely to interfere with the left and right structure of the flexural testing machine, and it is more convenient to clamp the specimen on the flexural testing machine from the top and bottom directions. If the gripper grabs the specimen from the loading platform of the flexural testing machine in the up-down direction, the robot arm 2 will place the specimen gripped in the up-down direction onto the loading platform of the compression testing machine with the scraping surface of the specimen facing right. The gripper is in the up-down direction, and the gripper distributed up and down is likely to interfere with the up-down structure of the compression testing machine. At this time, the robot arm 2 cannot rotate the gripper 90° to change the gripper from the up-down direction to the left-right direction, thereby avoiding interference between the gripper and the up-down structure of the compression testing machine. This is because once the gripper rotates, the scraping surface of the specimen clamped by the gripper will also rotate 90°. In this way, after the specimen is placed on the loading platform of the compression testing machine, the placement of the specimen will not meet the requirement of the scraping surface facing right. By providing a turntable 5, the grippers of the robotic arm 2 can first clamp the specimen from the flexure testing machine onto the turntable 5 by gripping it vertically. The end effector 4 on the robotic arm 2 then grips the specimen's scraped surface and the surface opposite the scraped surface on the turntable 5, and then places it on the loading platform of the compression testing machine to complete the compression test. In other words, for the flexure testing machine, interference easily occurs in the left-right direction, requiring gripping in the vertical direction. For the compression testing machine, interference easily occurs in the vertical direction, requiring grippers to be positioned in the horizontal direction to successfully place the specimen. If the rotation changes the vertical gripping to the horizontal gripping, the orientation of the specimen's scraped surface on the compression testing machine will not meet the requirements. However, by providing a turntable 5, the specimen from the flexure testing machine can be gripped vertically and placed on the turntable 5. The grippers then grip the specimen's scraped surface and the surface opposite the scraped surface on the turntable 5. The robotic arm 2 can then rotate so that the scraped surface faces right. At this point, the grippers are also positioned horizontally, allowing the specimen to be successfully placed on the loading platform of the compression testing machine for compression testing. That is to say, the function of the transfer table 5 is similar to providing an opportunity for the gripping method of the gripping claws of the robot arm 2 to change, thereby enabling the specimen to be transferred from the flexural testing machine to the compression testing machine for compression testing by gripping.

[0062] In particular, in this embodiment, the test piece clamped by the robot arm 2 on the stage of the flexural testing machine is placed on the horizontal support of the turntable 5 with the scraped surface facing upward. Then, when the robot arm 2 clamps the test piece on the turntable 5, it clamps the scraped surface of the test piece and the plane opposite to the scraped surface, and finally places the test piece on the stage of the compression testing machine with the scraped surface facing right.

[0063] More specifically, in this embodiment, referring to Figure 5 The bottom of the robotic arm 2 is mounted on a base 1, which is provided with storage space to improve space utilization. Both the anti-bending cleaning mechanism and the anti-pressure cleaning mechanism include a nozzle 63 connected to an air compressor 8. The air compressor 8 supplies air to the nozzle 63, which in turn provides an air jet for cleaning. Furthermore, the anti-pressure cleaning mechanism also includes a push rod 62, which can push the crushed specimen on the compression tester's stage toward an inclined discharge chute 61. The crushed specimen then flows through the discharge chute 61 to the waste bin 3.

[0064] In addition, in this embodiment, referring to Figure 7 The storage section as a whole is in the form of a specimen storage rack 74. The storage section includes an outer shell and a plurality of square compartments formed by a plurality of vertical steel bars 72 spaced a certain distance apart in the shell. There are three square compartments in total. One square compartment is equivalent to one square storage room. The cross-sectional area of the square storage room is slightly larger than the cross-sectional area of the cement mortar specimen. The three side-by-side square storage rooms can store a total of three stacks of cement mortar specimens. Because when the flexural and compressive strength of the cement mortar specimens are tested, the flexural strength is calculated based on the arithmetic mean of the flexural strength data of the three specimens. The compressive strength is calculated based on the arithmetic mean of the compressive strength data of the three specimens after being folded into six sections. That is to say, according to the standards and specifications, the flexural and compressive strength tests of cement mortar specimens are carried out on three complete cement mortar specimens as a group, so three square storage rooms are set up. When the specimens are stored in the square storage rooms, there are a total of three specimens on the same layer. The three specimens just correspond to one group of tests. Each time the robot arm 2 clamps the three specimens on the top layer of the three square storage rooms, it obtains the data required for a group of tests. If only two square storage rooms are set up, there may be two situations in which one or two specimens are left on the top layer. In this case, the robot arm 2 will have to judge which situation it is in order to continue clamping to complete a group of tests. If only other numbers of square storage rooms are set up, the robot arm 2 will also need to judge when to continue clamping the specimens to complete a complete group of tests.

[0065] Moreover, a switch door 71 is provided on at least one surface of the housing of the storage part, and the test piece can be placed in the square storage room by opening the switch door 71. Figure 7 In this embodiment, the lifting member is composed of a horizontal steel plate 73, which extends from the intervals between the vertical steel bars 72 into the square storage room. Moreover, in this embodiment, in order to better show the structure of the square storage room, part of the shell of the storage part is not shown. Figure 7The first induction switch 76 is located near the square discharge port 75. The first induction switch 76 can be a proximity switch. Only when the test pieces on the top layer of the three square storage rooms are all grabbed by the robot arm 2 will the motor 77 drive the slide 78 to continue to rise. In addition, the second induction switch and the third induction switch can also be proximity switches.

[0066] In this embodiment, referring to Figure 5 The robotic arm 2 grasps the specimen through the end effector 4, and the grasping method is clamping. The end effector 4 includes a mounting plate 42. One side of the mounting plate 42 is used to connect to the robotic arm 2. The other side of the mounting plate 42 is equipped with two clamping parts 41 and a code scanner 43 and a camera 44 located between the two clamping parts 41. Each clamping part 41 is equipped with two clamping plates and a power source to drive the two clamping plates to move. The power source can be pneumatic, electric, or hydraulic. The two clamping parts 41 are provided on the mounting plate 42. This allows the specimen that has been folded into two parts on the flexural test machine to be clamped onto the transfer table 5 at one time, improving efficiency.

[0067] Example 3:

[0068] Based on the first embodiment, a method for automatically testing the strength of a cement mortar specimen is provided, comprising:

[0069] Step 1: The robotic arm 2 grabs a cement mortar specimen from the specimen storage device 7 and places it on the stage of the flexural testing machine for flexural strength testing, obtains the flexural strength C1 and transmits it to the host computer;

[0070] After the cement mortar specimen is broken into two pieces during the flexural strength test and is taken away by the robot arm 2, the flexural cleaning mechanism cleans the loading platform of the flexural testing machine;

[0071] Step 2: Robotic arm 2 grabs a broken section of cement mortar specimen and places it on the stage of the compression testing machine for compressive strength testing, obtains the compressive strength C2 and transmits it to the host computer;

[0072] After the compressive strength C2 is obtained, the compressive cleaning mechanism cleans the loading platform of the compressive testing machine;

[0073] Step 3: The robotic arm 2 grabs the other broken cement mortar specimen and places it on the stage of the compression testing machine for compressive strength testing, obtains the compressive strength C3 and transmits it to the host computer;

[0074] After the compressive strength C3 is obtained, the compressive cleaning mechanism cleans the loading platform of the compressive testing machine;

[0075] Step 4: Repeat steps 1 to 3 to complete the automatic strength test of a preset number of cement mortar specimens.

[0076] Specifically, if the robot arm 2 grabs the specimen by clamping, then in step two, the robot arm 2 first grabs the two broken cement mortar specimens on the loading platform of the flexural testing machine and places them on the turntable 5. After the turntable 5 levels the two cement mortar specimens in the up and down directions and left and right directions, the robot arm 2 grabs a piece of cement mortar specimen on the turntable 5 to the loading platform of the compression testing machine for compressive strength test, obtains the compressive strength C2 and transmits it to the host computer; in step three, the robot arm 2 grabs another piece of cement mortar specimen on the turntable 5 to the loading platform of the compression testing machine for compressive strength test, obtains the compressive strength C3 and transmits it to the host computer.

[0077] More specifically, if the specimen storage device 7 is provided with a square storage room, the robotic arm 2 grabs the specimen by clamping, and a transfer table 5 is provided, the following steps can be referred to:

[0078] Step 1: Place the cement mortar specimens in the square storage room in order, and click Start Test on the host computer;

[0079] Step 2: The horizontal steel plate in the square storage room rises along with the slide 78 until the cement mortar specimen on the top layer of the square storage room comes out completely from the square discharge port 75;

[0080] Step 3: Robotic arm 2 clamps a cement mortar specimen on the top layer to the loading platform of the flexural testing machine for flexural testing. The flexural testing machine is started to perform flexural strength testing, and the flexural strength C1 is obtained and transmitted to the host computer;

[0081] Step 4: The robotic arm 2 clamps the two broken specimens to the first limiting portion of the transfer table 5. The second limiting portion flattens the two specimens. The nozzle 63 in the anti-bending cleaning mechanism sprays gas to clean the stage of the anti-bending tester.

[0082] Step 5: The robotic arm 2 clamps a section of the test piece on the transfer table 5 to the stage of the compression testing machine for a compressive strength test. The compression testing machine is started to perform the compressive strength test, and the compressive strength C2 is obtained and transmitted to the host computer. The push rod 62 in the compression cleaning mechanism pushes the crushed test piece toward the discharge chute 61, so that the crushed test piece flows along the discharge chute 61 toward the waste bin 3. The nozzle 63 in the compression testing machine sprays gas to clean the stage of the compression testing machine.

[0083] Step 6: After repeating step 5 to obtain the compressive strength C3 of another test piece, the robot arm 2 moves to the initial position, ready to clamp the test piece at the square outlet 75 next time;

[0084] Step 7: Repeat steps 3 to 6 until all three test pieces on the top layer of the three square material storage rooms coming out of the square material outlet 75 are grabbed by the robot arm 2 and the flexural strength test and the compressive strength test are completed.

[0085] Step 8: If there are still test pieces in the square storage room, repeat steps 2 to 7. If all test pieces in the square storage room are tested, the slide 78 moves downward to the lower limit position to prepare for the next loading of the square storage room, and the test ends.

[0086] In summary, the above are merely preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention shall be included in the scope of protection of the present invention. For example, replacing the bolt connection in this embodiment with a stud connection shall be included in the scope of protection of the present invention.

Claims

1. A turntable for placing broken cement mortar specimens, characterized in that: The turntable is used to receive the cement mortar specimen after the flexural strength test, and the gripper of the robotic arm can grip the cement mortar specimen on the turntable from the upper and lower directions; The transfer platform includes a first limiting portion; The first limiting portion is provided with a horizontal support member, and the horizontal support member is used to place the cement mortar test piece and limit the upper and lower positions of the cement mortar test piece; The horizontal support member is provided with an opening so that the clamping claw of the robotic arm can clamp the cement mortar specimen on the horizontal support member from the upper and lower directions.

2. A turntable for placing broken cement mortar specimens according to claim 1, characterized in that: The width of the horizontal support member is smaller than the width of the cement mortar specimen; Second limiting portions are provided on both sides of the horizontal support member in a lateral direction. The height of the second limiting portions is greater than that of the first limiting portions, and the second limiting portions can move in a lateral direction of the horizontal support member. The second limiting portion is used to limit the left and right positions of the cement mortar test piece placed on the horizontal support member.

3. The turntable for placing broken cement mortar specimens according to claim 2, characterized in that: The transfer station also includes a base; The first limiting portion is fixed to the base; The second limiting portion is installed on the base, and the second limiting portion includes two clamping plates and a power for driving the two clamping plates to move.

4. The turntable for placing broken cement mortar specimens according to claim 3, characterized in that: The power is pneumatic, electric or hydraulic.

5. A turntable for placing broken cement mortar specimens according to any one of claims 3 to 4, characterized in that: The maximum distance between the two clamping plates in the second limiting portion is adjustable.

6. A turntable for placing broken cement mortar specimens according to claim 3 or 4, characterized in that: The base can be fixed to another object by bolt connection, welding or magnetic attraction.

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