A Vickers hardness testing system for silicon steel plates

Abstract

This invention provides a Vickers hardness testing system for silicon steel plates. The system includes: a robotic arm with a first stacked screw clamp and a second individual clamp at its execution end; a loading rack, a storage mechanism, a coating removal mechanism, and a hardness testing mechanism arranged circumferentially around the robotic arm; and a positioning mechanism positioned between the hardness testing mechanism and the storage mechanism. This invention uses the storage mechanism to hold multiple stacked test samples; the first stacked screw clamp grasps the stacked test samples and transfers them to the positioning mechanism for axial positioning; the second individual clamp grasps each test sample individually, transferring the topmost sample from the positioning mechanism to the coating removal mechanism, which removes the surface coating of the test samples. Alternatively, samples treated with laser-removed coating can be transferred to the hardness testing mechanism for Vickers hardness testing, avoiding human error and improving the accuracy of the test results.

Description

Technical Field

[0001] This utility model relates to the field of hardness testing technology, and more specifically, to a Vickers hardness testing system for silicon steel plates. Background Technology

[0002] Vickers hardness is one of the routine physical property tests for silicon steel products. It is extremely challenging to achieve full automation of Vickers hardness testing for ordinary steel products. Silicon steel is even more difficult to test because it has a coating (mainly composed of MgO) on its surface. Its surface smoothness does not meet the conditions for Vickers hardness testing. The surface coating must be removed before testing. The conventional method is to remove the coating manually by sanding on sandpaper. The process is cumbersome, has low labor value, and human operation inevitably causes test errors. Summary of the Invention

[0003] In view of this, this utility model proposes a Vickers hardness testing system for silicon steel plates, which aims to solve the problems of the cumbersome process of manually polishing and removing the coating on sandpaper before Vickers hardness testing of ordinary steel products, the low labor value, and the test errors caused by human operation.

[0004] This utility model proposes a Vickers hardness testing system for silicon steel plates. The system includes: a robotic arm, the execution end of which is equipped with a first stacked screw clamp and a second individual clamp, for respectively gripping multiple test samples and a single test sample from the stacked screw, so as to realize the separate transfer of multiple test samples and a single test sample under the action of the robotic arm; a storage mechanism, a coating removal mechanism, and a hardness testing mechanism, wherein the loading rack, the storage mechanism, the coating removal mechanism, and the hardness testing mechanism are arranged circumferentially around the outer periphery of the robotic arm, the storage mechanism is used to carry multiple stacked test samples, the coating removal mechanism is used to remove the coating from each test sample one by one, and the hardness testing mechanism is used to perform Vickers hardness testing on each test sample one by one; and a positioning mechanism, disposed between the hardness testing mechanism and the storage mechanism, for positioning the multiple stacked test samples to ensure that the multiple test samples from the stacked screw are arranged coaxially.

[0005] Furthermore, in the aforementioned Vickers hardness testing system for silicon steel plates, the first stacked screw clamp includes: a support frame; two jaws, the two jaws being arranged opposite each other, and at least one of the jaws being positioned adjustablely on the support frame along the arrangement direction of the two jaws, the two jaws being used to move from both sides of the stacked screw to clamp to the outer periphery of the stacked screw and to support and limit the bottom wall of the stacked screw; an axial clamping plate, disposed between the two jaws, and the axial clamping plate being positioned adjustablely on the support frame along a direction perpendicular to the movement direction of the jaws, for limiting the top wall of the stacked screw with different thicknesses, so that the stacked screw with different thicknesses can be clamped between the two jaws and the axial clamping plate.

[0006] Furthermore, in the aforementioned Vickers hardness testing system for silicon steel plates, the gripper includes: a lateral clamp for pressing against the sidewalls of multiple test samples of the stacked screw; and a transverse chuck disposed at one end of the lateral clamp and perpendicularly disposed between the lateral clamp and the lateral chuck, the transverse chuck for supporting the bottom wall of the multiple test samples of the stacked screw, so that the multiple test samples of the stacked screw are stacked on the transverse chuck.

[0007] Furthermore, in the aforementioned silicon steel plate Vickers hardness testing system, the grippers are connected to a clamping drive component for driving the grippers to move towards each other or away from each other; the axial clamping plate is connected to a pressing drive component for driving the axial clamping plate to reciprocate linearly in a direction perpendicular to the moving direction of the grippers.

[0008] Furthermore, in the aforementioned Vickers hardness testing system for silicon steel plates, the hardness testing mechanism includes: a hardness testing support platform, with a Vickers hardness tester mounted above the support platform; a moving component disposed on the support platform; and a sample carrying platform disposed on the power output end of the moving mechanism, used to move under the drive of the moving mechanism to a sample placement area for placing or removing the sample to be tested, or a testing work area below the Vickers hardness tester.

[0009] Furthermore, in the aforementioned silicon steel plate Vickers hardness testing system, the moving component is a planar moving component, which includes a lateral moving part and a longitudinal moving part disposed on the power output end of the lateral moving part.

[0010] Furthermore, in the aforementioned Vickers hardness testing system for silicon steel plates, the positioning mechanism includes: a positioning frame; a lateral fixed positioning plate disposed on the positioning frame; and a lateral movable positioning plate disposed opposite to the lateral fixed positioning plate. The lateral movable positioning plate is disposed on one side of the lateral fixed positioning plate in a position-adjustable manner, and is used to move toward or away from the lateral fixed positioning plate to press against one side of the multiple test samples of the stacked screw, thereby positioning the multiple test samples of the stacked screw between the lateral movable positioning plate and the lateral fixed positioning plate, thus realizing the positioning of the multiple test samples of the stacked screw.

[0011] Furthermore, in the aforementioned Vickers hardness testing system for silicon steel plates, a sample support seat is provided between the lateral movable positioning plate and the lateral fixed positioning plate for supporting multiple samples to be tested; the lateral movable positioning plate is connected to a positioning drive component for driving the lateral movable positioning plate to move toward or away from the lateral fixed positioning plate.

[0012] Furthermore, in the aforementioned Vickers hardness testing system for silicon steel plates, the coating removal mechanism includes: a coating removal support platform; a vertical support rod vertically positioned above the coating removal support platform; and a laser generator positioned on the vertical support rod in a position-adjustable manner along its length, used to adjust the height of the laser generator based on the thickness of the sample to be tested, so as to emit a laser to remove the coating on the sample to be tested.

[0013] Furthermore, in the aforementioned Vickers hardness testing system for silicon steel plates, a three-dimensional storage tray is provided on one side of the hardness testing mechanism for storing the silicon steel plates after the Vickers hardness test is completed; the second individual fixture is an adsorption fixture for adsorbing a single sample to be tested.

[0014] The Vickers hardness testing system for silicon steel plates provided by this utility model uses a storage mechanism to hold multiple stacked test samples. A robotic arm, in conjunction with a first stacked clamp on the robotic arm, grasps the stacked test samples and transfers them to a positioning mechanism for axial positioning. The robotic arm, in conjunction with a second individual clamp on the robotic arm, can grasp the stacked test samples one by one, picking up the topmost test sample from the positioning mechanism and transferring it to a coating removal mechanism to remove the surface coating. The robotic arm, in conjunction with the second individual clamp on the robotic arm, then transfers the laser-removed test sample to the hardness testing mechanism for Vickers hardness testing. This system effectively avoids human error, improves the accuracy of test results, and increases testing efficiency. It solves the problems of tedious, low-labor-value manual sanding and polishing to remove coatings before Vickers hardness testing of ordinary steel products, and the resulting human error. Attached Figure Description

[0015] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings: Figure 1 A schematic diagram of the structure of the Vickers hardness testing system for silicon steel plates provided in this embodiment of the utility model; Figure 2 A schematic diagram of the storage mechanism provided in an embodiment of this utility model; Figure 3 A schematic diagram of the vertical support rod and laser generator in the coating removal mechanism provided in this embodiment of the utility model; Figure 4 This is a schematic diagram of the structure of the mobile component provided in an embodiment of the present utility model; Figure 5 A schematic diagram of the positioning mechanism provided in an embodiment of this utility model; Figure 6 This is a schematic diagram of the feeding mechanism provided in an embodiment of the present utility model; Figure 7 Schematic diagram of the structure of the first stacked screw clamp and the second single-unit clamp provided in the embodiments of this utility model; Explanation of reference numerals in the attached figures: 1-Robot arm, 2-Storage mechanism, 21-Storage rack, 22-Storage box, 221-Test clamping plate, 222-Sample slot, 3-Coating removal mechanism, 31-Coating removal support platform, 32-Vertical support rod, 33-Laser generator, 34-Height adjuster, 35-Coating removal support plate, 4-Hardness testing mechanism, 41-Hardness testing support platform, 42-Moving component, 421-Horizontal moving component, 422-Longitudinal moving component, 43-Sample bearing platform, 44-Vickers hardness tester, 5-Positioning mechanism, 51 - Positioning frame, 52- Lateral fixed positioning plate, 521- Fixed positioning groove, 53- Lateral movable positioning plate, 531- Movable positioning groove, 54- Positioning drive component, 55- Sample support base, 6- Feeding mechanism, 61- Feeding rack, 62- Conveying mechanism, 63- Feeding box, 7- First stacked screw clamp, 71- Support frame body, 72- Clamping claw, 721- Lateral clamping plate, 722- Lateral chuck, 73- Axial clamping plate, 74- Clamping drive component, 8- Second single clamp, 9- Support base plate, 10- Sample to be inspected. Detailed Implementation

[0016] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the disclosure to those skilled in the art. It should be noted that, unless otherwise specified, embodiments and features of the present invention can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0017] See Figure 1 This is a schematic diagram of the Vickers hardness testing system for silicon steel plates provided in this embodiment of the present invention. As shown in the figure, the system includes: a robotic arm 1, a feeding mechanism 6, a storage mechanism 2, a coating removal mechanism 3, a hardness testing mechanism 4, and a positioning mechanism 5.

[0018] The robotic arm 1 is equipped with a first stacked screw clamp 7 and a second single-unit clamp 75, which are used to respectively grasp multiple test samples 10 and a single test sample 10 of the stacked screw, so as to realize the separate transfer of multiple test samples 10 and single test samples 10 of the stacked screw under the action of the robotic arm 1.

[0019] Specifically, the fixed base of the robot arm 1 can be fixedly installed on the support base plate 9, especially at the center of the support base plate 9, to facilitate the transfer of the sample 10 to be inspected, making the system structure compact. The actuator of the robot arm 1 can be respectively equipped with a first stacked screw clamp 7 and a second single clamp 75. The first stacked screw clamp 7 and the second single clamp 75 can be placed on different walls of the actuator of the robot arm 1, such as... Figure 1As shown, the first stacked screw clamp 7 and the second single-unit clamp 75 can be respectively set on the right side wall and top wall of the actuator end of the robot arm 1, so that the first stacked screw clamp 7 and the second single-unit clamp 75 are arranged facing right and upward respectively, thus facilitating the independent use of the first stacked screw clamp 7 and the second single-unit clamp 75. Among them, the first stacked screw clamp 7 can grasp multiple test samples 10 to be inspected by stacking screws, which can improve the feeding speed and the inspection speed. Of course, it can also grasp a single test sample 10 to be inspected, that is, feed and transfer them one by one. The second individual fixture 75 can be an adsorption fixture used to adsorb a single test sample 10, i.e., adsorb one piece at a time, to adsorb the topmost test sample 10 of multiple test samples 10 stacked in a stack, thereby transferring the test samples 10 one by one. This allows the test sample 10, positioned by the positioning mechanism 5, to be adsorbed and transferred to the coating removal mechanism 3, and after coating removal, transferred to the hardness testing mechanism 4 for hardness testing. It can also be transferred to other positions to make room for the testing area of ​​the hardness testing mechanism 4. In this embodiment, the second individual fixture 75 can be a gas suction cup, especially a vacuum suction cup, or other adsorption mechanisms; no limitation is made in this embodiment. The test sample 10 can be a silicon steel plate or other structures; no limitation is made in this embodiment. In this embodiment, the robotic arm 1 can be a six-axis robotic arm 1.

[0020] The storage mechanism 2, the coating removal mechanism 3, and the hardness testing mechanism 4 are arranged in a circle around the outer periphery of the robot arm 1. The storage mechanism 2 is used to carry multiple stacked test samples 10, and can carry multiple stacks of test samples 10. The coating removal mechanism 3 is used to remove the coating from each test sample 10. The hardness testing mechanism 4 is used to perform Vickers hardness testing on each test sample 10.

[0021] Specifically, the storage mechanism 2, the coating removal mechanism 3, and the hardness testing mechanism 4 are arranged circumferentially around the outer periphery of the robot arm 1. The fixed ends can be fixedly installed on the support base plate 9, and are arranged sequentially along the outer edge of the circular testing area in the middle of the support base plate 9. In this embodiment, the support base plate 9 can also be provided with a feeding mechanism 6. The feeding mechanism 6 can be arranged on the circumference of the storage mechanism 2, the coating removal mechanism 3, and the hardness testing mechanism 4, that is, the feeding mechanism 6, the storage mechanism 2, the coating removal mechanism 3, and the hardness testing mechanism 4 are arranged circumferentially around the outer periphery of the robot arm 1. The feeding mechanism 6 is used to feed the test sample 10 in a stacked manner, that is, to feed the test sample 10 into the testing area. The robot arm 1 and the first stacked clamp 7 can grasp and transfer the stacked test samples 10 fed into the feeding mechanism 6 to the storage mechanism 2 as a whole, so that the feeding mechanism 6 can perform continuous feeding or other operations. Among them, there can be multiple storage mechanisms 2 to increase the carrying space of the test sample 10; there can also be multiple feeding mechanisms 6, and the specific number can be set according to the actual working conditions.

[0022] To facilitate precise positioning of the test specimen 10 and accurate coating removal and hardness testing, preferably, a positioning mechanism 5 can also be provided on the support base plate 9. The positioning mechanism 5 is located between the hardness testing mechanism 4 and the storage mechanism 2, and is used to position the stacked test specimens 10 so that the stacked test specimens 10 are arranged coaxially, thereby enabling the test specimens 10 to be accurately picked up one by one and transferred to the coating removal mechanism 3 and the hardness testing mechanism 4, so that the coating removal mechanism 3 and the hardness testing mechanism 4 can be used for coating removal and Vickers hardness testing.

[0023] In this embodiment, a three-dimensional storage tray (not shown in the figure) may also be provided on one side of the hardness testing mechanism 4 for storing the silicon steel plate after the Vickers hardness test is completed.

[0024] See also Figure 1 and Figure 2 The storage mechanism 2 may include a storage rack 21 and a storage box 22 disposed on the storage rack 21. The storage box 22 is used to hold multiple stacked test samples 10. Specifically, the storage box 22 may be provided with multiple sample slots 222 for securing the multiple stacked test samples 10, especially for securing a stack of test samples 10. In this embodiment, the storage box 22 is provided with multiple vertically placed test securing plates 221. The width of the test securing plates 221 may be smaller than the diameter of the test sample 10. Each test securing plate 221 may be provided with multiple sample slots 222 adapted to the test sample 10 along its length direction, so that the test slots can be arranged in multiple rows and columns. The sample slot 222 can be an upward-facing notch on the test clamping plate 221, which extends through the test clamping plate 221 along its thickness direction. This allows a stack of test samples 10 to be clamped in a sample slot 222. The outer edges of the two parts of the test sample 10 protrude from both sides of the test clamping plate 221, facilitating the lowering and removal of the test sample 10. This avoids interference between the test clamping plate 221 and the first stacked screw clamp 7, allowing the first stacked screw clamp 7 to lower the stack of test samples 10 it holds from the opening end of the sample slot 222 into the sample slot 222, or to remove them from the opening end of the sample slot 222.

[0025] See also Figures 1 to 3 The coating removal mechanism 3 may include: a coating removal support platform 31, a vertical support rod 32, and a laser generator 33.

[0026] The vertical support rod 32 is vertically positioned above the coating removal support platform 31; the laser generator 33 is positioned on the vertical support rod 32 in a position-adjustable manner along the length of the vertical support rod 32, and is used to adjust the height position of the laser generator 33 based on the thickness of the sample 10 to emit a laser to remove the coating on the sample 10.

[0027] Specifically, the coating removal support platform 31 serves a supporting function, providing support and fixation for the vertical support rod 32, the laser generator 33, and the sample 10 to be inspected. The laser generator 33 extends along the length of the vertical support rod 32 (e.g., along the length of the vertical support rod 32). Figure 3 The vertical support rod 32 (shown in the vertical direction) is positioned adjustable. In this embodiment, the vertical support rod 32 may be equipped with a height adjuster 34, the power output end of which can be connected to the laser generator 33 to drive the laser generator 33 to move vertically, thereby adjusting the height position of the laser generator 33 based on the thickness of the sample 10 to accurately remove the coating on the sample 10 by emitting laser light. The height adjuster 34 may be a linear module embedded inside the vertical support rod 32 along its length. The vertically arranged linear module has its power output end slidably inserted through the vertical support rod 32. Furthermore, the power output end of the height adjuster 34 may be equipped with a coating removal support plate 35 to support the laser generator 33 and drive it to move up and down. Of course, the height adjuster 34 may also have other structures, which are not limited in this embodiment.

[0028] See also Figure 1 The hardness testing mechanism 4 may include: a hardness testing support platform 41, a Vickers hardness tester 43, a moving component 42, and a sample carrier platform 43; wherein, the Vickers hardness tester 43 is located above the hardness testing support platform 41; the moving component 42 is located on the hardness testing support platform 41; the sample carrier platform 43 is located on the power output end of the moving mechanism and is used to move under the drive of the moving mechanism to move to the sample placement area for placing or removing the sample 10 to be tested or the testing work area below the Vickers hardness tester 43.

[0029] Specifically, the Vickers hardness tester 43 is placed on the hardness testing support platform 41. A moving component 42 may also be provided on the hardness testing support platform 41 directly below the testing head of the Vickers hardness tester 43. The sample carrier platform 43 is located on the power output end of the moving mechanism and is used to move under the drive of the moving mechanism. It can perform one-dimensional or two-dimensional movement on the supporting horizontal plane of the hardness testing support platform 41, thereby moving the sample carrier platform 43 to the sample placement / removal area for placing or removing the test sample 10 or to the testing work area below the Vickers hardness tester 43. The sample carrier platform 43 may be provided with a sample groove to limit the movement of a single test sample 10, ensuring the accuracy of the hardness test.

[0030] See Figure 4This is a schematic diagram of the structure of the moving component 42 provided in this embodiment of the present invention. As shown in the figure, the moving component 42 can be a two-dimensional moving component 42, i.e., a planar moving component 42, and may include: a lateral moving member 421 and a longitudinal moving member 422 disposed on the power output end of the lateral moving member 421. Specifically, the fixed end of the lateral moving member 421 can be fixedly installed on the platform of the hardness testing support 41, the fixed end of the longitudinal moving member 422 can be fixedly installed on the power output end of the lateral moving member 421, and the sample carrying platform 43 can be fixedly installed on the power output end of the longitudinal moving member 422. The lateral moving member 421 and the longitudinal moving member 422 can be linear modules, realizing movement in their respective directions.

[0031] See Figure 5 The figure shows a schematic diagram of the positioning mechanism 5 provided in this embodiment of the present invention. As shown in the figure, the positioning mechanism 5 includes: a positioning frame 51, a lateral fixed positioning plate 52, a lateral movable positioning plate 53, and a sample support base 55.

[0032] A lateral fixing positioning plate 52 is mounted on the positioning frame 51. Specifically, the positioning frame 51 can be fixedly installed on the support floor. The bottom end of the lateral fixing positioning plate 52 can be installed on the top wall of the positioning frame 51, and one side of it (e.g., Figure 5 The right side shown is provided with a fixed positioning groove 521, which is an arc-shaped structure and is adapted to the outer wall of the sample 10 to be tested.

[0033] The lateral movable positioning plate 53 is arranged opposite to the lateral fixed positioning plate 52. The lateral movable positioning plate 53 is arranged on one side of the lateral fixed positioning plate 52 in a position-adjustable manner. It is used to move towards or away from the lateral fixed positioning plate 52 to press against one side of the multiple test samples 10 of the stacked screw, so that the multiple test samples 10 of the stacked screw are positioned between the lateral movable positioning plate 53 and the lateral fixed positioning plate 52, thereby realizing the positioning of the multiple test samples 10 of the stacked screw.

[0034] Specifically, a movable positioning groove 531 is provided on one side of the lateral fixed positioning plate 52. This groove is arc-shaped and adapts to the outer wall of the test sample 10. The lateral fixed positioning plates 52 and 531 are arranged opposite each other, i.e., the movable positioning groove 531 and the fixed positioning groove 521 are arranged opposite each other. The test sample 10 can be squeezed from both sides to make the outer walls of multiple test samples 10 press against the groove walls of the movable positioning groove 531 and the fixed positioning groove 521, thus achieving axial positioning. In this embodiment, the lateral movable positioning plate 53 can be connected to a positioning drive component 54, used to drive the lateral movable positioning plate 53 to move towards or away from the lateral fixed positioning plate 52. The positioning drive component 54 can be a horizontally arranged cylinder, with its fixed end (e.g., Figure 5 The right end shown can be fixedly installed on the positioning frame 51, and the telescopic end (such as...) Figure 5 The left end (shown in the diagram) serves as the power output end and is connected to the lateral movable positioning plate 53 to drive the lateral movable positioning plate 53 to move left and right, thereby positioning the test sample 10. In this embodiment, a sample support seat 55 is provided between the lateral movable positioning plate 53 and the lateral fixed positioning plate 52 to support multiple test samples 10, which can improve the convenience of positioning the test sample 10 by squeezing and adjusting it.

[0035] See also Figure 1 and Figure 6 The feeding mechanism 6 may include a feeding rack 61, a conveying mechanism 62, and a feeding box 63. The conveying mechanism 62 is mounted on the feeding rack 61 and is equipped with a feeding box 63 for carrying stacked test samples 10. The conveying mechanism 62 is used to convey the feeding box 63 to the feeding position and the unloading position. When the feeding box 63 is in the feeding position, multiple stacks of test samples 10 from other positions can be placed one by one into the test sample slots 222 of the feeding box 63 for independent storage. When the feeding box 63 is in the unloading position, multiple stacks of test samples 10 in the feeding box 63 can be picked up one by one by the robot arm 1 and the first stack clamp 7 and transferred to the test sample slots 222 of the storage box 22 for independent storage.

[0036] Specifically, the loading rack 61 serves a supporting function, and a conveying mechanism 62 is provided on the top of the loading rack 61. The conveying mechanism 62 can be a conveyor belt or multiple conveyor rollers arranged side by side, which can convey and transport the loading box 63 set on the conveying mechanism 62. The structure of the loading box 63 can refer to the structure of the storage box 22, and will not be described again in this embodiment.

[0037] See also Figure 1 and Figure 7 The first stacked screw clamp 7 may include: a support frame 71, two clamps 72 and an axial clamping plate 73.

[0038] The support frame 71 serves as a support body and can be fixedly installed on the execution end of the robot arm 1 to support the two grippers 72 and the axial clamping plate 73, allowing the two grippers 72 and the axial clamping plate 73 to move and perform other actions with the execution end of the robot arm 1.

[0039] Two grippers 72 are arranged opposite each other, and at least one of the grippers 72 is arranged on the support frame 71 in a position-adjustable manner along the arrangement direction of the two grippers 72. The two grippers 72 are used to move towards each other from both sides of the multiple test samples 10 of the stacked screw to clamp to the outer periphery of the multiple test samples 10 of the stacked screw, and to support and limit the bottom wall of the multiple test samples 10 of the stacked screw.

[0040] Specifically, two grippers 72 are arranged opposite each other to grip the sample 10 to be inspected placed in the middle. In this embodiment, the right gripper 72 can be a fixed gripper 72, and the left gripper 72 can be a movable gripper 72. The movable gripper 72 can reciprocate linearly towards or away from the fixed gripper 72. For example, when it approaches the fixed gripper 72, it can actively push the multiple samples 10 to be inspected in the stack until the outer peripheral walls of the multiple samples 10 to be inspected in the stack are clamped between the fixed gripper 72 and the movable gripper 72, and supported by the bottom wall of the bottommost sample 10 among the multiple samples 10 to be inspected in the stack. That is, the wall surface of the gripper 72 presses against the bottom wall of the bottommost sample 10 among the multiple samples 10 to be inspected in the stack. Of course, in other embodiments, both grippers 72 can be movable grippers 72, which can move towards or away from each other to achieve circumferential clamping of the sample 10 to be inspected. In this embodiment, the movable gripper 72 can be connected to a clamping drive 74 for driving the movable gripper 72 to perform linear motion. In this embodiment, the clamping drive 74 is a cylinder structure. Of course, in other embodiments, it can also be a linear module, and this embodiment does not impose any limitations on it.

[0041] An axial clamp 73 is disposed between two jaws 72, and the axial clamp 73 is disposed on the support frame 71 in a position-adjustable manner along the direction of movement perpendicular to the jaws 72. It is used to limit the top wall of multiple test samples 10 of different thicknesses of the stacked screw, so that multiple test samples 10 of different thicknesses of the stacked screw can be clamped between the two jaws 72 and the axial clamp 73.

[0042] Specifically, the axial clamping plate 73 is disposed between the two jaws 72 and is perpendicular to the direction of movement of the jaws 72 (e.g., Figure 7The axial clamping plate 73 (in the direction shown in AA) is movably mounted on the support frame 71 or the fixed clamping jaw 72, meaning it can move axially along the thickness direction of the sample 10 to be inspected, i.e., towards or away from the support frame 71, and then towards or away from the sample 10 to be inspected, thus pressing against the top wall of the uppermost sample 10 among the stacked samples 10, achieving axial clamping. In this embodiment, the axial clamping plate 73 can be connected to a pressing drive component, used to drive the axial clamping plate 73 to reciprocate linearly in a direction perpendicular to the moving direction of the clamping jaw 72, i.e., reciprocating linearly along the axial direction of the sample 10 to be inspected. The pressing drive component can be a cylinder structure to form a pneumatic pressure plate for pressing the sample 10 to be inspected, or it can be other driving components; this embodiment does not impose any limitations on it. In this embodiment, the gripper 72 may be provided with a limiter to limit the travel of the axial clamp 73 in order to control the travel of the axial clamp 73. Alternatively, the axial clamp 73 may be provided with a pressure sensor to determine whether the axial clamp 73 is clamped to the top wall of the test sample 10 based on the pressure it presses against the test sample 10, thereby controlling the pressing drive and thus controlling the movement of the axial clamp 73.

[0043] See also Figure 7 The gripper 72 includes: a lateral gripper 721 and a transverse chuck 722; wherein, the lateral gripper 721 is used to press against the sidewalls of the multiple test samples 10 of the stacked screw; the transverse chuck 722 is disposed at one end of the lateral gripper 721 (e.g., Figure 7 The lower right end of the lateral clamp 722 is shown and is perpendicular to the side clamp 721. The lateral clamp 722 is used to support the bottom wall of the multiple test samples 10 of the stacked screw, so that the multiple test samples 10 of the stacked screw are stacked on the lateral clamp 722.

[0044] Specifically, the lateral clamp 721 and the transverse clamp 722 are arranged perpendicularly, with the lateral clamp 721 along the axial direction of the sample 10 to be inspected (e.g., ...). Figure 7 Arranged in the AA direction (as shown), the transverse clamps 722 are arranged along the support surface of the sample 10 to be inspected, and can press against the bottom wall of the sample 10 to provide bottom support. The two transverse clamps 722 of the two jaws 72 are both set between the two lateral clamps 721, which can provide two bottom supports for the bottom wall of the sample 10 to be inspected, ensuring support stability.

[0045] The system's operation is as follows: First, multiple stacks of test samples 10 are placed sequentially into the sample slots 222 of the loading box 63, and the loading box 63 is moved to the unloading position via the conveying mechanism 62. Then, the first stacked screw clamp 7 of the robotic arm 1 grips the test samples 10 on the loading box 63 stack by stack. The robotic arm 1 transfers the gripped test samples 10 from the loading box 63 to the storage box 22, allowing the loading box 63 to be empty for further loading or other operations. Finally, the robotic arm 1... The first stacked screw clamp 7 grips the test samples 10 on the storage box 22 one stack at a time. The robot arm 1 transfers the gripped test samples 10 from the storage box 22 to the test sample support 55 of the positioning mechanism 5. The positioning drive 54 drives the lateral movable positioning plate 53 to move, so that the stack of test samples 10 is positioned by the cooperation between the lateral fixed positioning plate 52 and the lateral movable positioning plate 53, so that the stack of multiple test samples 10 are coaxial. Then, the laser generator is adjusted by the height adjuster 34. At the optimal height position, the second individual gripper 75 of the robotic arm 1 adsorbs the topmost single test sample 10 among the stack of test samples 10 between the lateral fixed positioning plate 52 and the lateral movable positioning plate 53. The robotic arm 1 then transfers the adsorbed test sample 10 from the positioning mechanism 5 to the coating removal position of the coating removal support platform 31. The laser generator 33 removes the surface coating of the test sample 10. After the coating is removed, the robotic arm 1 again transfers the laser-removed test sample 10 to the sample carrier platform 43 of the hardness testing mechanism 4 through the second individual gripper 75. The sample carrier platform 43 is pre-moved to the sample pick-and-place area. After receiving the sample, the sample carrier platform 43 moves to the testing work area of ​​the Vickers hardness tester 43 for Vickers hardness testing. After the Vickers hardness tester 43 completes the test, it transmits the data to the host computer. At the same time, after the sample carrier platform 43 moves to the sample pick-and-place area, the robotic arm 1 again removes the tested sample through the second individual gripper 75 and places it in the storage tray of the automated storage system.

[0046] In summary, the Vickers hardness testing system for silicon steel plates provided in this embodiment uses a storage mechanism 2 to hold multiple stacked test samples 10; a robotic arm 1, in conjunction with a first stacked clamp 7 on the robotic arm 1, grasps the stacked test samples 10 and transfers them to a positioning mechanism 5 for axial positioning; and a robotic arm 1, in conjunction with a second individual clamp 75 on the robotic arm 1, can grasp the stacked test samples 10 one by one, so as to grasp and transfer the topmost test sample from the positioning mechanism 5 to the coating removal stage. On the layer mechanism 3, the coating on the surface of the sample to be tested is removed by the coating removal mechanism 3, and the sample 10 after laser coating removal is transferred to the hardness testing mechanism 4 by the robot arm 1 in conjunction with the second single fixture 75 set on the robot arm 1 for Vickers hardness testing. This effectively avoids the detection error caused by human operation, improves the accuracy of the test results, and also improves the testing efficiency. It solves the problem that the process of manually polishing and removing the coating on sandpaper before Vickers hardness testing of ordinary steel products is cumbersome, has low labor value, and causes test errors due to human operation.

[0047] It should be noted that in the description of this utility model, the terms "upper", "lower", "left", "right", "inner", "outer", etc., indicating the direction or positional relationship are based on the direction or positional relationship shown in the drawings. This is only for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation of this utility model.

[0048] Furthermore, it should be noted that, in the description of this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0049] Obviously, those skilled in the art can make various modifications and variations to this utility model without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this utility model and their equivalents, this utility model also intends to include these modifications and variations.

Claims

1. A silicon steel sheet Vickers hardness detection system, characterized by, include: The robotic arm has a first stacked screw clamp and a second single-unit clamp at its execution end, which are used to respectively grasp multiple test samples and a single test sample of the stacked screw, so as to realize the separate transfer of multiple test samples and a single test sample of the stacked screw under the action of the robotic arm. The storage mechanism, the coating removal mechanism, and the hardness testing mechanism are arranged in a circle around the outer periphery of the robot arm. The storage mechanism is used to carry multiple stacked test samples, the coating removal mechanism is used to remove the coating from each test sample one by one, and the hardness testing mechanism is used to perform Vickers hardness testing on each test sample one by one. A positioning mechanism is provided between the hardness testing mechanism and the storage mechanism to position multiple stacked test samples so that the multiple test samples of the stacked screw are arranged coaxially.

2. The silicon steel sheet Vickers hardness detection system according to claim 1, characterized by, The first stacked screw clamp includes: Support frame; Two grippers are arranged opposite each other, and at least one of the grippers is arranged on the support frame in a position-adjustable manner along the arrangement direction of the two grippers. The two grippers are used to move from both sides of the plurality of test samples of the stacked screw to clamp to the outer periphery of the plurality of test samples of the stacked screw, and to support and limit the bottom wall of the plurality of test samples of the stacked screw. An axial clamp is disposed between the two jaws, and the axial clamp is disposed on the support frame in a position-adjustable manner along a direction perpendicular to the movement direction of the jaws. It is used to limit the top wall of multiple test samples of different thicknesses of the stacked screw, so that multiple test samples of different thicknesses of the stacked screw can be clamped between the two jaws and the axial clamp.

3. The silicon steel sheet Vickers hardness detection system of claim 2, wherein, The gripper includes: Lateral clamps, which are used to press against the sidewalls of multiple test samples of the stacked screw; A transverse chuck is disposed at one end of the lateral clamp and perpendicular to the lateral clamp. The transverse chuck is used to support the bottom wall of multiple test samples of the stacked screw, so that the multiple test samples of the stacked screw are stacked on the transverse chuck.

4. The Vickers hardness testing system for silicon steel plates according to claim 2, characterized in that, The grippers are connected to a gripping drive unit for driving the grippers to move towards each other or away from each other. The axial clamping plate is connected to a top-pressure drive component, which drives the axial clamping plate to reciprocate linearly in a direction perpendicular to the moving direction of the gripper.

5. The Vickers hardness testing system for silicon steel plates according to any one of claims 1 to 4, characterized in that, The hardness testing mechanism includes: A hardness testing support platform, with a Vickers hardness tester mounted on top of the hardness testing support platform; A movable component is mounted on the hardness testing support platform; A sample support stage is mounted on the power output end of the moving component and is used to move under the drive of the moving component to the sample placement area for placing or removing the sample to be tested or the testing work area below the Vickers hardness tester.

6. The Vickers hardness testing system for silicon steel plates according to claim 5, characterized in that, The moving component is a planar moving component, which includes a lateral moving part and a longitudinal moving part disposed on the power output end of the lateral moving part.

7. The system for Vickers hardness testing of a silicon steel sheet according to any one of claims 1 to 4, characterized in that, The positioning mechanism includes: Positioning frame; A lateral fixed positioning plate is mounted on the positioning frame; A lateral movable positioning plate is disposed opposite to the lateral fixed positioning plate. The lateral movable positioning plate is disposed on one side of the lateral fixed positioning plate in a position-adjustable manner. It is used to move toward or away from the lateral fixed positioning plate to press against one side of the multiple test samples of the stacked screw, so that the multiple test samples of the stacked screw are positioned between the lateral movable positioning plate and the lateral fixed positioning plate, thereby realizing the positioning of the multiple test samples of the stacked screw.

8. The Vickers hardness testing system for silicon steel plates according to claim 7, characterized in that, A sample support seat is provided between the lateral movable positioning plate and the lateral fixed positioning plate to support multiple samples to be tested. The lateral movable positioning plate is connected to a positioning drive component, which drives the lateral movable positioning plate to move toward or away from the lateral fixed positioning plate.

9. The Vickers hardness testing system for silicon steel plates according to any one of claims 1 to 4, characterized in that, The coating removal mechanism includes: Remove coating support platform; A vertical support rod is vertically positioned above the coating removal support platform; A laser generator is mounted on the vertical support rod in a position-adjustable manner along the length of the vertical support rod. The height of the laser generator is adjusted based on the thickness of the sample to be inspected, so as to emit a laser to remove the coating on the sample.

10. The Vickers hardness testing system for silicon steel plates according to any one of claims 1 to 4, characterized in that, The hardness testing mechanism is also equipped with a three-dimensional storage tray on one side for storing silicon steel plates after Vickers hardness testing. The second monomer clamp is an adsorption clamp used to adsorb a single sample to be tested.

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