CN111948413A - Automatic detection method, detection system and application - Google Patents

Automatic detection method, detection system and application Download PDF

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Publication number
CN111948413A
CN111948413A CN202010879940.8A CN202010879940A CN111948413A CN 111948413 A CN111948413 A CN 111948413A CN 202010879940 A CN202010879940 A CN 202010879940A CN 111948413 A CN111948413 A CN 111948413A
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test
sample
assembly
bending
ith
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吴博
庞承焕
程春锋
李卫领
肖星
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Guogao High Polymer Material Industry Innovation Center Co Ltd
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Guogao High Polymer Material Industry Innovation Center Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
    • G01N35/00584—Control arrangements for automatic analysers
    • G01N35/0092—Scheduling
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N3/00—Investigating strength properties of solid materials by application of mechanical stress
    • G01N3/08—Investigating strength properties of solid materials by application of mechanical stress by applying steady tensile or compressive forces
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N3/00—Investigating strength properties of solid materials by application of mechanical stress
    • G01N3/20—Investigating strength properties of solid materials by application of mechanical stress by applying steady bending forces
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
    • G01N35/00584—Control arrangements for automatic analysers
    • G01N35/00722—Communications; Identification
    • G01N35/00732—Identification of carriers, materials or components in automatic analysers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
    • G01N35/0099—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor comprising robots or similar manipulators
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
    • G01N35/00584—Control arrangements for automatic analysers
    • G01N35/0092—Scheduling
    • G01N2035/0094—Scheduling optimisation; experiment design
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2203/00—Investigating strength properties of solid materials by application of mechanical stress
    • G01N2203/0014—Type of force applied
    • G01N2203/0016—Tensile or compressive
    • G01N2203/0017—Tensile
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2203/00—Investigating strength properties of solid materials by application of mechanical stress
    • G01N2203/0014—Type of force applied
    • G01N2203/0023—Bending

Abstract

In order to solve the problem of low detection efficiency caused by a detection algorithm in the prior art, the invention provides an automatic detection method, a detection system and application. The method comprises the steps that a control center controls a conveying device to convey a sample to be tested to a testing station, tensile testing or bending testing is carried out, and after the work is finished, waste materials are taken out through a waste material taking-out device; and when tensile test or bending test are carried out, scheduling optimization is carried out on the conveying device, so that the testing efficiency is improved.

Description

Automatic detection method, detection system and application
Technical Field
The invention relates to the field of material performance detection, in particular to an automatic detection method, a detection system and application.
Background
A standard sample is actually a "reference value" that provides one or more quantities of a substance as an accuracy of other measurements. Therefore, the measurement of the sample is required to be high.
The existing automatic mechanical performance test system has the problems that a control system does not have a core algorithm, the stability of the control system is poor, the sample loading and sampling precision is poor, the failure rate is high, the usability is poor, and the system is not suitable for large-scale use.
And due to the problem of algorithm, the time beats of the test of the previous and subsequent processes are different, and the cooperation cannot be realized, for example, the size of one sample needs to be tested for about 40s, and the performance of one sample is tested for only 20s, so that the time for waiting for the size measurement of the sample by the test equipment is more, the efficiency of the size measurement seriously influences the efficiency of the whole detection system, and the high-flux test requirement cannot be met.
Disclosure of Invention
In order to solve the problem of low detection efficiency caused by a detection algorithm in the prior art, the invention provides an automatic detection method, a detection system and application, which can effectively solve the problem.
In order to achieve the purpose, the invention adopts the specific scheme that: an automated detection method, comprising: the control center controls the conveying device to transmit the test sample to be tested to the test station for tensile test or bending test, and when the tensile test or the bending test is performed, the conveying device is scheduled and optimized by adopting a mixed coding improved chicken flock algorithm, and the test time of the tensile test or the bending test is matched with the feeding and discharging time of the conveying device by establishing an optimization model, so that the test efficiency is improved.
The automatic detection method comprises the following steps:
s1, constructing a production scheduling model;
s2, optimizing the production scheduling model in the step S1 through a hybrid coding improved chicken flock algorithm;
s3, guiding a conveying device to feed and discharge through the optimized production scheduling model;
wherein, the production scheduling model in the step of S1 is:
Figure BDA0002653809210000021
in the formula, theta is an optimization objective function; t iseEquivalent test time required for completing the test of a single workpiece under the current sample combination; t ismEquivalent delivery time of a manipulator for completing a single workpiece test; m is the total number of the testers; n is the total number of bins; qit(i ═ 1, 2, …, M) is the predetermined time for the test of the i (i ═ 1, 2, …, M) th tester on the workpiece; pit(i ═ 1, 2, …, M) is the elapsed time of the test machine of the ith (i ═ 1, 2, …, M) on the workpiece; sit(i ═ 1, 2, …, M) is the time required for the manipulator to dispense a single time to the ith (i ═ 1, 2, …, M) test machine; q when i (i-1, 2, …, M) th tester is not workingit(i＝1，2，…，M)、Pit(i ═ 1, 2, …, M) and Sit(i ═ 1, 2, …, M) equal to 0; the constant is used for avoiding the problem of algorithm calculation failure caused by the fact that a certain test machine does not participate in working so as to improve the effectiveness of the algorithm; etIs a set of predetermined test times for the test sample; ekt(k ═ 1, 2, …, N) is the predetermined test time for the sample in the kth (k ═ 1, 2, …, N) bin; u and v are factors introduced for the numerical calculation to be stable, and are equal to 0 when all the testers stop working, otherwise u and v are equal to 1.
The optimization process in the step S2 is as follows:
s201, initializing a binary group by a random number based on a mixed coding scheme to construct an individual;
s202, calculating the fitness of the individual according to the fitness calculation formula;
s203, sequencing the individual fitness and recording the optimal individual;
s204, grading the chicken flock population and updating the individual positions based on an improved algorithm;
s205, randomly selecting a part of individuals with poor fitness and varying solution spaces of the individuals;
s206, circularly iterating until the maximum iteration times;
and S207, decoding pairing information of the bin position of the optimal individual output bin, the tensile testing device and the bending testing device, and guiding the conveying device to distribute the test sample.
The improved chicken flock algorithm of the mixed coding comprises the following steps:
according to the objective function, the mutual exclusion of the tensile testing device and the bending test sample and the mutual exclusion of the bending testing machine and the tensile test sample, the individual fitness calculation formula of the improved chicken swarm algorithm of the mixed code has the following structural form:
Figure BDA0002653809210000041
wherein f is the fitness of the individual; m1 is the total number of tensile testers; m2 is the total number of bending testers; m is the total number of the testers; a. theit(i＝1，2，…，M1) Is the ith (i ═ 1, 2, …, M)1) Testing the sample by a bench tensile testing machine for a preset time; b isit(i＝1，2，…，M1) Is the ith (i ═ 1, 2, …, M)1) The used time of the bench tensile testing machine for testing the workpiece; qjt(j＝1，2，…，M2) Is the j (j ═ 1, 2, …, M)2) Testing the sample by a bench bending testing machine for a preset time; pjt(j＝1，2，…，M2) Is the j (j ═ 1, 2, …, M)2) The elapsed time of the test on the sample by the bench bending tester; sit(i ═ 1, 2, …, M) is the time required for the manipulator to dispense a single time to the ith (i ═ 1, 2, …, M) test machine; u, v and w are factors introduced for the numerical calculation to be stable, when all the testing machines stop working, the u, v and w are equal to 0, otherwise the u, v and w are equal to 1; is a constant; q is a mutually exclusive punishment factor of the tester and the test sample, and is stored when the penalty factor is storedIn the case where a tensile test piece is assigned to the bending test machine or a bending test piece is assigned to the tensile test machine, q is 0, otherwise q is 1.
The chicken flock algorithm is an improved chicken flock algorithm, and specifically comprises the following steps: the position of the ith hen after t forages in the ith dimensional space is as follows:
Figure BDA0002653809210000042
the formula for updating the hen position after t +1 foraging is as follows:
Figure BDA0002653809210000043
in the formula, rand is random numbers uniformly distributed among [0,1 ]; r is the cock in the group of the ith hen; s is any cock except the r-th cock in the whole chicken group; fi is the fitness of the ith hen; fr is the fitness of the r-th cock; fs is the fitness of the s-th cock; is a constant.
After improvement, the position of the ith chick after t forages in the ith dimensional space is as follows:
Figure BDA0002653809210000051
the formula for updating the position of the chicken after t +1 foraging is as follows:
Figure BDA0002653809210000052
wherein m is the hen followed; r is the cock followed; rand is a random number uniformly distributed between [0,1 ]; fi is the fitness of the ith chicken; fm is the fitness of the mth hen; fr is the fitness of the r-th cock; is a constant.
The improved chicken flock algorithm of the mixed coding expresses chicken flock individuals by a binary group < X, Y >, wherein X is a search space, Y is a solution space, and the specific coding form is as follows:
wherein N is the total number of bins;
Figure BDA0002653809210000053
is a fuzzy function; xij is the position of the ith individual in the jth dimension and has the value range of [ -1,1]The random number of (2); yij is the corresponding binary position of the ith individual in the jth dimension, and the value of yij is 0 or 1, which indicates whether the jth bin in the sample bin is selected.
An automatic detection system comprises a rack, a conveying manipulator, an upper computer, a code scanning assembly, a positioning assembly, a code spraying assembly, a measuring assembly, a tensile test waste material taking-out device, a conveying device, a bending test assembly, a bending test waste material taking-out device, a tensile test assembly and a storage bin, wherein the code scanning assembly, the positioning assembly, the code spraying assembly, the measuring assembly, the tensile test waste material taking-out device, the conveying device and the bending test assembly are;
the upper computer is electrically connected with the code scanning assembly and is used for collecting incoming material information of the sample;
the upper computer is electrically connected with the positioning assembly and is used for detecting whether the sample is in place or not and controlling the positioning assembly to fix the sample;
the upper computer is connected with the code spraying assembly and is used for controlling the code spraying assembly to spray a unique two-dimensional code to the sample;
the upper computer is electrically connected with the measuring assembly and used for collecting size data of the sample and judging the type of the sample according to the size information;
the upper computer is electrically connected with the conveying manipulator and is used for conveying the sample to the storage bin after the sample is placed on the positioning assembly, the positioning is completed and the type of the sample is judged;
the upper computer is connected with the conveying device and used for controlling the conveying device to place the test sample to be tested on the tensile testing assembly or the bending testing assembly; and simultaneously, the upper computer is respectively electrically connected with the tensile test waste material taking-out device and the bending test waste material taking-out device and is used for controlling the tensile test waste material taking-out device and the bending test waste material taking-out device to take out the tested waste material after the tensile test assembly or the bending test assembly finishes working, so that the measurement process is completed.
The code scanning assembly comprises a code scanning gun electrically connected with an upper computer or a code scanning unit electrically connected with the upper computer and a door-shaped code scanning support arranged on the rack;
wherein, sweep a yard unit setting and sweep a yard crossbeam of support and the sense terminal sets up downwards.
The measuring assembly comprises a first slide rail mechanism for measuring the thickness of a sample, a second slide rail mechanism for measuring the length and the width of the sample and a fixed frame body for arranging the first slide rail mechanism and the second slide rail mechanism;
the fixed frame body is arranged on the rack and can do linear motion along the rack; a first sliding rail mechanism is arranged on the side surface of the fixed frame body vertical to the ground; the side face, far away from the positioning assembly, of the fixed frame body is provided with a second sliding rail mechanism, the second sliding rail mechanism can do linear motion along the fixed frame body, and the motion direction of the second sliding rail mechanism is perpendicular to the motion direction of the fixed frame body.
Has the advantages that: the system transmits a sample to be tested to a test station through a control center control conveying device, performs tensile test or bending test, and takes out waste materials through a waste material taking-out device after the work is finished; and when the tensile test or the bending test is carried out, the scheduling optimization is carried out on the conveying device so as to improve the productivity in unit time and further improve the test efficiency.
The system completes the stretching detection and the bending detection of the sample and the waste removal after the detection through the stretching test component, the stretching test waste material taking-out device, the bending test component and the bending test waste material taking-out device, can replace manpower, and improves the accuracy.
The invention solves the problem that the existing automatic test system can not meet the requirement of low investment under the test of mass samples because of low size measurement efficiency. If the size measuring device equipped by the existing automatic equipment is adopted, one size measuring device can basically meet the testing requirement of only one equipment, but the detection system provided by the invention can meet the size measuring requirement of 15 equipment, and the bottleneck problem of the size measuring efficiency of the existing automatic detection equipment is solved. The requirement of high-flux detection can be met.
Drawings
FIG. 1 is a general flow chart of the present invention.
Fig. 2 is a block diagram of a dimension measuring system according to the present invention.
Fig. 3 is a schematic structural diagram of the system of the present invention.
Fig. 4 is a schematic structural diagram of the code scanning assembly in fig. 3.
FIG. 5 is an embodiment of the positioning assembly and the measuring assembly of FIG. 3.
Fig. 6 is a left side view of fig. 5.
Fig. 7 is a sectional view taken along line a-a in fig. 6.
Fig. 8 is a front view of the positioning assembly of fig. 3.
Fig. 9 is a top view of fig. 8.
FIG. 10 is another embodiment of the positioning assembly and the measurement assembly of FIG. 3.
Fig. 11 is a partial view in plan view of fig. 10.
FIG. 12 is a flow chart of the measurement of the size of a sample in the present invention.
FIG. 13 is a logic diagram of a bend test or a stretch test in accordance with the present invention.
FIG. 14 is a flow chart of the tensile test or the bending test in the present invention.
FIG. 15 is a perspective view of a testing system according to the present invention.
Fig. 16 is a top view of fig. 15.
Fig. 17 is a schematic structural view of the tensile test assembly and the tensile test waste take-out device.
FIG. 18 is a schematic view of the bending test assembly and the bending test waste take-out device.
Fig. 19 is a schematic structural diagram of a silo.
Among them, it is clear that: the direction of the arrows in fig. 5 is the direction of the air flow, meaning that a negative pressure is generated.
Wherein, 1, the frame; 2. a transfer robot; 3. an upper computer; 4. a code scanning component; 5. a positioning assembly; 6. code spraying assembly; 7. a measurement assembly; 8. a sample; 9. a tensile test waste take-out device; 10. a conveyance device; 11. and a bending test assembly; 12. a bending test waste take-out device; 13. stretching the test assembly; 14. a storage bin; 401. a code scanning gun; 402. a code scanning unit; 403. a code scanning bracket; 501. a base plate; 502. a negative pressure unit; 503. a positioning unit; 502a, a slot; 701. a first slide rail mechanism 702, a second slide rail mechanism; 703. fixing the frame body; 901. a waste feeding clamp mechanism; 9011. an upper motor; 9012. an upper rocker arm; 9013. an upper cylinder; 9014. an upper clamp body; 902. a waste material discharging clamp mechanism; 9021. a lower rocker arm; 9022. a lower motor; 9023. a lower clamp body; 9024. a lower cylinder; 1101. a second portal frame; 1102. a moving beam; 1103. a push-down member; 1104. a lower die; 1201. jacking a cylinder; 1202. an inclined guide plate; 1203. a waste material box; 1301. a first gate bracket; 1302. a cross beam; 1303. an upper stretching die; 1304. drawing the die downwards; 1401. a support frame; 1402. a storage groove; 1403. pushing the material piece; 1404. and a cylinder.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
In summary, as shown in fig. 1, the present invention provides an automatic detection system, which includes a rack 1, a conveying robot 2, an upper computer 3, and a code scanning assembly 4, a positioning assembly 5, a code spraying assembly 6, a measuring assembly 7, a bin 14, a tensile testing assembly 13, a tensile testing waste removing device 9, a conveying device 10, a bending testing assembly 11, and a bending testing waste removing device 12, which are disposed on the rack 1; for the size measuring part, the upper computer 3 is electrically connected with the code scanning assembly 4 and is used for collecting the incoming material information of the sample 8; the upper computer 3 is electrically connected with the positioning component 5 and is used for detecting whether the sample 8 is in place or not and controlling the positioning component 5 to fix the sample; the upper computer 3 is connected with the code spraying assembly 6 and is used for controlling the code spraying assembly 6 to spray a unique two-dimensional code on the sample 8; the upper computer 3 is electrically connected with the measuring component 7 and is used for collecting size data of the sample 8 and judging the type of the sample 8 according to the size information; the upper computer 3 is electrically connected with the conveying manipulator 2 and is used for conveying the sample 8 to the storage bin 14 after the sample 8 is placed on the positioning assembly 5, the positioning is completed and the type of the sample 8 is judged; the upper computer 3 is connected with the conveying device 10 and is used for controlling the conveying device 10 to place a test sample to be tested on the tensile testing component 13 or the bending testing component 11; meanwhile, the upper computer 3 is electrically connected with the tensile test waste material taking-out device 9 and the bending test waste material taking-out device 12 respectively, and is used for controlling the tensile test waste material taking-out device 9 and the bending test waste material taking-out device 12 to take out the tested waste material after the tensile test assembly 13 or the bending test assembly 11 finishes working, and the measurement process is completed.
As shown in fig. 2 to 3, the rack 1, the conveying manipulator 2, the upper computer 3, the code scanning assembly 4, the positioning assembly 5, the code spraying assembly 6 and the measuring assembly 7 which are arranged on the rack 1 form a sample size measuring device.
Wherein, according to the actual production requirement, the code scanning assembly 4 can be a code scanning gun 401; sweep a yard rifle 401 through holding in staff's hand, sweep the sign indicating number to sample 8, obtain the factory information of sample 8 to with this information storage in host computer 3.
Alternatively, as shown in fig. 4, the code scanning assembly 4 may include a code scanning unit 402, a door-type code scanning bracket 403 disposed on the rack 1; the code scanning unit 402 is arranged on a beam of the code scanning bracket 403; when the sample 8 passes under the code scanning bracket 403, the code scanning unit 402 acquires the information of the code on the sample 8 and sends the information to the upper computer 3. The sample 8 may be transported by a conveyor belt and passed through the code scanning unit 402, or the specimen 8 may be manually placed under the code scanning unit 402.
It is to be understood that: the staff sweeps a yard process after, and sample 8 conveys to locating component through conveying manipulator 2, and at this in-process, conveying manipulator 2 utilizes the pixel to fix a position through CCD, and cooperation conveying manipulator 2 snatchs.
Since the sample 8 needs to be measured after the positioning assembly 5 is fixed, if a linear scanning measurement mode by a laser head is adopted, the sample 8 needs to be fixed to prevent the sample 8 from moving and affecting the measurement result.
In practical operation, as shown in fig. 5 to 6, the measuring assembly 7 can measure the length, the width and the thickness of the sample 8 through the laser ranging unit; meanwhile, in the process of using laser ranging, in order to ensure that the measuring result is accurate, the sample 8 is in a static state through the positioning assembly 5, and the laser ranging unit on the measuring assembly 7 can move linearly, and the size data of the sample 8 is measured in a scanning mode.
In the specific embodiment I, the positioning assembly 5 includes a bottom plate 501, a negative pressure unit 502, and a positioning unit 503, which are disposed on the rack 1 through bolts; wherein, the edge of the bottom plate 501 is provided with a row of at least two positioning units 503, and the middle of the bottom plate 501 is provided with a vent hole; the vent hole is connected with the output end of the negative pressure unit 502; wherein, the positioning unit 503 is matched with the positioning device on the transfer manipulator 2 and is used for placing the sample 8 at a required position; the negative pressure unit 502 is electrically connected to the upper computer 3, and is configured to control the negative pressure unit 502 to work after the conveying manipulator 2 places the sample 8 at a specific position, so as to adsorb the sample 8 on the bottom plate 501.
Preferably, as shown in fig. 8 to 9, a raised plane is arranged on the bottom plate 501; the plane is used for arranging the sample 8; in order to accommodate different samples 8, if there are a plurality of fine vent holes, the sample 8 may be displaced at the instant when the negative pressure unit 502 is operated, making the measurement result inaccurate. Therefore, a plurality of vent holes may be provided as one long hole 502A; the longitudinal direction of the long hole 502A coincides with the longitudinal direction of the sample 8. When the sample 8 is placed, the sample 8 is positioned above the long hole 502A, and when the negative pressure unit 502 works, the sample 8 can be stably adsorbed, so that the problem of measurement misalignment caused by displacement of the sample 8 is solved.
Meanwhile, the bottom plate 501 is provided with a raised plane, so that the height of the sample 8 can be higher than the supporting surface of the rack 1, and the thickness of the sample 8 can be conveniently measured. Furthermore, a negative pressure unit 502 can be arranged below the plane of the bulge, so that sealing can be conveniently performed by using sealing glue.
It is to be understood that: the positioning unit 503 may be an infrared emitting end; and the positioning means provided on the transfer robot 2 may be an infrared receiving end; after the infrared transmitting end completely corresponds to the infrared receiving end, a signal is sent to the upper computer 3, the upper computer 3 sends a control signal to control the conveying manipulator 2 to loosen the sample 8, and then the negative pressure unit 502 is controlled to work to adsorb the sample 8 on the bottom plate 501 through the long hole 502A.
The measuring assembly 7 includes a first slide rail mechanism 701 for measuring the thickness of the sample 8, a second slide rail mechanism 702 for measuring the length and width of the sample 8, and a fixing frame 703 for arranging the first slide rail mechanism 701 and the second slide rail mechanism 702;
the fixed frame 703 is arranged on the frame 1 through a guide rail; a first slide rail mechanism 701 is arranged on the side surface of the fixed frame body 703 vertical to the ground; the side of the fixed frame 703 away from the positioning assembly 5 is provided with a second sliding rail mechanism 702, and the second sliding rail mechanism 702 can move linearly along the fixed frame 703 and the moving direction of the second sliding rail mechanism 702 is perpendicular to the moving direction of the fixed frame 703.
The first slide rail mechanism 701 and the second slide rail mechanism 702 are both linear motion guide rail structures, have the same structure, are different only in the running direction, and both comprise a driving motor a, a first guide rail b, a second guide rail c, a slide block d, a screw rod e and a measuring element g;
as shown in fig. 7, the first guide rail b and the second guide rail c are detachably disposed on the fixed frame 703; a sliding block d is arranged in a gap between the first guide rail b and the second guide rail c; one end of the sliding block d, facing the sample 8, is provided with a measuring element g, and one end of the sliding block d, far away from the sample 8, is provided with a threaded hole; the threaded hole on the sliding block d is arranged corresponding to the screw rod e; one end of the screw e is connected with the output end of the driving motor a, and the other end is arranged on the fixed frame 703 through a bearing seat.
Example II: in practical operation, as shown in fig. 10 to 11, the measuring assembly 7 can measure the length, width and thickness of the sample 8 through the CCD; since the dimensional measurement of the object by the CCD does not require a linear motion, the sample 8 may be placed at a predetermined position.
In order to complete the CCD dimension measurement, the positioning assembly 5 comprises a transparent bottom plate 501 and a positioning unit 503 which are arranged on the machine frame 1, and an illuminating unit; the measuring component 7 comprises a CCD linear array 704; wherein, the edge of the bottom plate 501 is provided with a row of at least two positioning units 503; the positioning unit 503 is matched with the positioning device on the conveying manipulator 2, and is used for placing the sample 8 in the object field of the imaging objective lens and setting the CCD linear array image-sensitive surface on the optimal image surface position of the imaging objective lens, and the measurement is completed through the illumination of the illumination unit; the CCD linear array 704 is electrically connected to the upper computer 3, and is configured to measure size data of the sample 8.
In this embodiment, a transparent object such as glass is used for the base plate 501, and the test specimen 8 is positioned by the transfer robot 2 via the positioning unit 503 and then placed on the base plate 501. Preferably, the CCD line array 704 may be disposed on the bottom plate 501 on the opposite side of the sample 8 or on the side of the fixed frame 703 facing the sample 8, and a necessary illumination unit may be disposed as needed for convenience of use.
Preferably, the CCD line array 704 selects two CCDs respectively disposed at two ends of the bottom plate 501; the length of the product is calculated by adopting 2 CCDs, and the CCDs are used for detecting: the precision is the field of vision/(pixel 5), according to 200 fields of vision, the camera calculation of 2000W pixel obtains the precision and is about 0.02mm, adopt 2 CCD can reduce the field of vision and detect to improve the precision of detection, in order to guarantee the precision of measurement, the product need be lighted before, when placing the product, need make the burr face up, prevent that the burr from influencing the precision of detection.
During the installation process, if necessary, a beam 1A may be disposed on the rack 1 for placing the required CCD linear array 704 or lighting unit, which may be adjusted according to the actual situation.
Specific example III: of course, in the process of implementation, a linear scanning method may be used in combination with the CCD line array 704.
Such as: the positioning assembly 5 comprises a transparent bottom plate 501 and a positioning unit 503 which are arranged on the rack 1, and an illuminating unit; the measuring component 7 comprises a CCD linear array 704 for measuring the length and the width of the sample 8 and a first slide rail mechanism 701 for measuring the thickness of the sample 8;
a row of at least two positioning units 503 are arranged at the edge of the bottom plate 501, and are matched with a positioning device on the conveying manipulator 2, so that the sample 8 is placed in an object field of the imaging objective lens, the CCD linear array image-sensitive surface is arranged at the optimal image surface position of the imaging objective lens, and the measurement is completed through the illumination of the illumination unit; the CCD linear array 704 is electrically connected to the upper computer 3.
Similarly, a second slide mechanism 702 for measuring the length and width of the sample 8 and a CCD line array 704 for measuring the thickness of the sample 8 may be provided as necessary.
Compared with the prior art, the device solves the problems of sample type identification, classification, code printing and the like when different types of samples are subjected to size measurement simultaneously through the vision device, reduces the time for manual identification, reduces the size measurement time from the original average size of about 45s to the size of 3s-5s for testing one sample through the measurement assembly, improves the size measurement efficiency by nearly 9-15 times, and solves the problem that the low-investment requirement under the large-batch sample test cannot be met due to low size measurement efficiency in the existing sample test mode. Meanwhile, due to the adoption of a reasonable classification process, automatic classification is completed, and the automatic classification can be linked with a subsequent automatic unit, such as a pressure detection unit, so that a complete automatic assembly line is formed.
It is to be understood that: the code spraying component 6 can be selected from the technical scheme of application number CN 205467924.
It is to be understood that: the upper computer 3 can be arranged on the frame 1 or in a control room according to requirements.
It is to be understood that: the transfer robot 2 described herein may move the sample 8 using a vacuum chuck in order to protect the surface of the sample 8 during transfer of the sample 8.
The measurement process of the measurement assembly 7 is as follows: as shown in fig. 12, the method comprises the following steps:
s1, determining sample incoming material information through a code scanning assembly, sending the information to a control end, and forming a two-dimensional code corresponding to a sample by the control end;
s2, positioning the sample scanned in the step S1;
s3, spraying the two-dimensional code on the sample positioned in the step S2;
s4, measuring the size of the sample sprayed with the two-dimensional code;
s5, uploading the size data obtained in the step S4 to a control end, and obtaining the type of the sample in the control end through comparing a database; at the same time, the type information of the sample is associated with the two-dimensional code information sprayed in step S3.
A database constructed by the standard sample data is stored in the control end in the step S5; and after receiving the length, width and thickness data of the sample to be detected, comparing the data with the data in the database to find out the corresponding sample type, and finishing the sample classification process.
After the size measurement of the sample is performed, the control center, such as the upper computer 3, controls the conveying device 10, such as the manipulator, and the classified sample is sent into the detecting device for detection, which includes: the control center controls the conveying device to convey the sample to be tested to the testing station, tensile testing or bending testing is carried out, and after the work is finished, the waste material is taken out through the waste material taking-out device; and when the stretching test or the bending test is carried out, the chicken flock algorithm and the genetic second-generation hybrid algorithm are adopted to carry out scheduling optimization on the conveying device so as to improve the productivity in unit time, so that manual feeding and measurement are comprehensively replaced, comprehensive automation is realized, and the measurement accuracy and the measurement efficiency are improved.
Referring to fig. 13 to 14, the tensile test unit 13, the tensile test waste take-out device 9, the conveying device 10, the bending test unit 11, and the bending test waste take-out device 12 according to the present invention constitute a test section for testing the tensile and bending strengths of the test specimen 8; the test method for the test sample 8 corresponding to the test part specifically comprises the following steps:
s1, placing a sample 8 to be tested in a storage bin 14;
s2, taking out the sample in the storage bin 14 through the conveying device 10;
s3, conveying the sample 8 taken out in the step S2 to a measuring assembly, and carrying out size measurement and size confirmation on the sample 8;
s4, conveying the sample 8 with the measured size in the step S3 to a tensile testing component 13 or a bending testing component 11 through a conveying device 10;
s5, after the sample 8 is prepared, returning the conveying device to the storage bin 14 in the step S1 to take materials for the second time;
s6, starting testing by the tensile testing component 13 or the bending testing component 11, and testing the strength of the test sample 8;
the specific process of the tensile test in the step S6 is as follows:
s601, the upper computer firstly reads parameters of an experimental process;
s602, decomposing the whole experimental process in the step S601 into different experimental processes;
s603, reading the experimental process in the step S602 and executing the experimental process;
s604, reading the data in the experimental process in the step S603 by the tensile test component, and judging whether the experimental conditions are met;
and S605, under the condition that the experimental conditions are met, ending the experimental process in the step S603.
S7, taking out the waste through a tensile test waste taking-out device 9;
and S8, placing the sample 8 obtained by taking the material for the second time at the measuring assembly by the conveying device 10, and repeating the steps from S3 to S7.
It is to be understood that: the scanning device can be a measuring device formed by a laser sensor or a CCD vision measuring system.
For the invention, the following specific details are used for scheduling and optimizing the conveying device by adopting the chicken flock algorithm and the genetic second generation hybrid algorithm.
The production scheduling problem mainly includes three factors, namely a constraint condition, an optimization objective and an optimization algorithm. The production scheduling optimization problem is solved by firstly establishing a production scheduling model and then optimizing the production scheduling model by adopting an optimization algorithm.
In order to avoid the situation that the testing machine waits for the manipulator or the manipulator waits for the testing machine due to disordered and irregular sample feeding, an optimization method that the equivalent test time of the testing machine is matched with the feeding and discharging time of the manipulator is sought by establishing an optimization model, so that the testing efficiency is improved.
Because the single-piece testing time is less than the total delivery time of the delivery device, such as the delivery time of a manipulator, the dispersion of the sample testing time and the total delivery time of the manipulator is considered at the same time for optimizing the target, so that the situation that the testing machine waits for the manipulator or the manipulator waits for the testing machine due to disordered and irregular sample feeding is avoided, and an optimization method for mutually matching the equivalent testing time of the testing machine and the feeding and discharging time of the manipulator is sought through establishing an optimization model, so that the testing efficiency is improved.
In order to enable the equivalent test time of the testing machine to be matched with the loading and unloading time of the manipulator as much as possible, the difference value between the equivalent test time of the testing machine and the loading and unloading time of the manipulator is minimized through sample combination, and the purpose of improving efficiency is achieved.
Considering the complexity of manipulator combination scheduling, the information of the residual equivalent test time of a single sample and the equivalent delivery time of the manipulator is used for establishing an optimization model of a production scheduling problem.
The chicken swarm optimization is a new swarm intelligent global optimization algorithm which integrates optimization characteristics of a genetic algorithm, a particle swarm algorithm, a bat algorithm and the like and is obtained by simulating the abstraction of the chicken swarm living rule, has the advantages of strong self-adaption capability, multi-subgroup collaborative search and the like, and is widely used for solving various practical problems. The swarm optimization algorithm simulates a swarm grade system and swarm behaviors and is realized according to the behaviors that different chickens follow different movement laws, the swarm grade system, the competition among the swarm, the hatched offspring of the hens, the growth of the chicks into cocks or hens and the like.
A Fast Non-dominated Sorting Genetic Algorithm A Fast Elitist Non-randomized sequencing Genetic Algorithm for Multi-object Optimization, NSGA-II, is a Genetic Algorithm for solving the Multi-object Optimization problem based on Pareto Sorting. NSGA-II has been widely applied to multi-objective optimization problems, and has achieved good practical engineering application effects. The invention applies NSGA-II to the optimization of solving the production scheduling problem, optimizes the problem by adopting a mode of multipoint parallel Search, and does not carry out detailed Search in a local range. Firstly, NSGA-II carries out large-range initial search, then TS or VNS carries out further search in a local range on the basis of NSGA-II search, and the mixed algorithm of NSGA-II and TS or VNS can improve the convergence speed and the resolution quality of the algorithm. In order to keep the excellent evolutionary mechanism of the chicken swarm algorithm and fully utilize the excellent optimization characteristics of the chicken swarm algorithm and the NSGA-II algorithm, the NSGA-II algorithm and the chicken swarm algorithm based on the mixed coding scheme are used for solving the optimization model of the production scheduling problem.
The automatic detection method can be applied to the aspect of detecting the mechanical property of the sample, and comprises the following steps:
s1, constructing a production scheduling model;
Figure BDA0002653809210000181
Figure BDA0002653809210000182
in the formula, theta is an optimization objective function; t iseEquivalent test time required for completing the test of a single workpiece under the current sample combination; t ismEquivalent delivery time of a manipulator for completing a single workpiece test; m is the total number of the testers; n is the total number of bins; qit(i ═ 1, 2, …, M) is the predetermined time for the test of the i (i ═ 1, 2, …, M) th tester on the workpiece; pit(i ═ 1, 2, …, M) is the elapsed time of the test machine of the ith (i ═ 1, 2, …, M) on the workpiece; sit(i ═ 1, 2, …, M) is the time required for the manipulator to dispense a single time to the ith (i ═ 1, 2, …, M) test machine; test machine i (i ═ 1, 2, …, M) does notWhen participating in work Qit(i＝1，2，…，M)、Pit(i ═ 1, 2, …, M) and Sit(i ═ 1, 2, …, M) equal to 0; the constant is used for avoiding the problem of algorithm calculation failure caused by the fact that a certain test machine does not participate in working so as to improve the effectiveness of the algorithm; etIs a set of predetermined test times for the test sample; ekt(k ═ 1, 2, …, N) is the predetermined test time for the sample in the kth (k ═ 1, 2, …, N) bin; u and v are factors introduced for the numerical calculation to be stable, and are equal to 0 when all the testers stop working, otherwise u and v are equal to 1.
S2, optimizing the production scheduling model in the step S1 through a hybrid coding improved chicken flock algorithm;
and S3, guiding the conveying device to feed and discharge through the optimized production scheduling model.
The optimization process in the step S2 is as follows:
s301, initializing a binary group by a random number based on a mixed coding scheme to construct an individual;
s302, calculating the fitness of the individual according to the fitness calculation formula;
s303, sequencing the individual fitness and recording the optimal individual;
s304, grading the chicken flock population and updating the individual positions based on an improved algorithm;
s305, randomly selecting a part of individuals with poor fitness and varying solution spaces of the individuals;
s306, circularly iterating until the maximum iteration times;
and S307, decoding pairing information of the bin position of the optimal individual output bin, the tensile testing device and the bending testing device, and guiding the conveying device to distribute the test sample.
The method specifically comprises the following steps: the foraging space is set as D dimension, the total number of individuals in the chicken group is pop, the number of cocks is rNum, the number of hens is hNum, and the number of chickens is cNum. Foraging behavior of cocks, hens and chicks was as follows:
(1) foraging behavior of rooster. The position of the ith cock after t forages in the ith dimension space is
Figure BDA0002653809210000191
After t +1 foraging, the positions of the cocks are updated as follows:
Figure BDA0002653809210000192
Figure BDA0002653809210000193
k＝[1，rNum]，k≠i
wherein rand (0, σ)2) Is a mean value of 0 and a standard deviation of σ2A gaussian distribution of (a); k is any cock except the ith cock; f. ofiIs the fitness of the ith cock; f. ofkIs the fitness of the kth cock; is a constant.
(2) Foraging behavior of hens. The position of the ith hen after t forages in the ith dimensional space is
Figure BDA0002653809210000201
After t +1 foraging, the position of the hen is updated as follows:
Figure BDA0002653809210000202
in the formula, rand is random numbers uniformly distributed among [0,1 ]; r is the ith hen mate; s is any cock except the r-th cock; f. ofiIs the fitness of the ith hen; f. ofrIs the fitness of the r-th cock; f. ofsIs the fitness of the s-th cock; is a constant.
(3) Foraging behavior of chicks. The position of the ith chick after t forages in the ith dimensional space is
Figure BDA0002653809210000203
The positions of the chickens are updated after t +1 foraging:
Figure BDA0002653809210000204
wherein m is a hen followed by the ith chick; conf is the following coefficient of the chick following the foraging of the hen.
The hen position updating in the chicken swarm algorithm only learns from own spouse and a cock except the spouse, and the optimization performance of the algorithm is weakened to a certain extent. In addition, the basic chicken swarm algorithm limits the chicken position updating formula to only follow the hen position when the chicken position is updated, and the chicken is brought into the local optimum problem when the hen falls into the local optimum. By improving the position updating formulas of the hens and the chickens, the positions of the hens are updated by referring to the positions of other cocks besides the position of the spouse of the hens, so that the global optimization performance of the algorithm is effectively improved; when the position of the chicken is updated, the position of the chicken follows the position of the father of the chicken besides the position of the mother of the chicken, so that the situation that the chicken falls into the local optimal problem along with the hen is effectively prevented.
After improvement, the position of the ith hen after foraging for t times in the ith dimensional space is as follows:
Figure BDA0002653809210000205
the formula for updating the hen position after t +1 foraging is as follows:
Figure BDA0002653809210000206
in the formula, rand is random numbers uniformly distributed among [0,1 ]; r is the cock in the group of the ith hen; s is any cock except the r-th cock in the whole chicken group; f. ofiIs the fitness of the ith hen; f. ofrIs the fitness of the r-th cock; f. ofsIs the fitness of the s-th cock; is a constant.
After improvement, the position of the ith chick after t forages in the ith dimensional space is as follows:
Figure BDA0002653809210000211
the formula for updating the position of the chicken after t +1 foraging is as follows:
Figure BDA0002653809210000212
wherein m is the hen followed; r is the cock followed; rand is [0,1]]Random numbers uniformly distributed among them; f. ofiIs the fitness of the ith chicken; f. ofmIs the fitness of the mth hen; f. ofrIs the fitness of the r-th cock; is a constant.
Although the NSGA-II algorithm and the chicken swarm algorithm are optimization solving algorithms integrating excellent optimization characteristics such as a particle swarm algorithm, a bat algorithm and the like, the NSGA-II algorithm and the chicken swarm algorithm are mainly used for solving the solving problem of continuous functions. In order to maintain the excellent evolutionary mechanism of the chicken flock algorithm and fully utilize the excellent optimization characteristics of the chicken flock algorithm and the NSGA-II algorithm, the NSGA-II algorithm and the chicken flock algorithm based on the mixed coding scheme are used for solving the production scheduling problem optimization model. The improved chicken flock algorithm of mixed coding represents chicken flock individuals by a binary group < X, Y >, wherein X is a search space, Y is a solution space, and the specific coding form is as follows:
Figure BDA0002653809210000213
wherein N is the total number of bins;
Figure BDA0002653809210000214
is a fuzzy function; xijIs the position of the ith individual in the jth dimension, and the value range is [ -1,1 [)]The random number of (2); y isijThe value of the binary position corresponding to the ith individual in the jth dimension is 0 or 1, and the jth bin in the sample bin is represented as whether being selected or not.
In order to facilitate the realization of an optimization algorithm, the bin positions of the sample bin are numbered as 1, 2, … according to the sequence in the optimization problem solving realization process, and N is the total number of the bins; classifying and storing a tensile testing machine and a bending testing machine, and arranging the tensile testing machine according to the following sequence: 1, 2, …, M1The bending tester is numbered 1, 2, …, M2Wherein M is1+M2M is measuredAnd (4) the total number of the test machines. The fitness calculation formula is the key point for solving the combined optimization problem for improving the test efficiency based on the improved algorithm of the hybrid coding scheme. Because the tensile testing machine and the bending testing machine exist in the testing machine, the bin position with the tensile sample cannot be matched and selected into the bending testing machine by the manipulator, and similarly, the bin position with the bending sample cannot be matched and selected into the tensile testing machine by the manipulator. The individual fitness calculation formula of the NSGA-II algorithm and the chicken flock algorithm based on the mixed coding scheme has the following structural form by comprehensively considering an objective function of an optimization problem, mutual exclusion of a tensile testing machine and a bending sample and mutual exclusion of the bending testing machine and the tensile sample:
the individual fitness calculation formula of the NSGA-II algorithm and the chicken flock algorithm based on the mixed coding scheme has the following structural form by comprehensively considering an objective function of an optimization problem, mutual exclusion of a tensile testing machine and a bending sample and mutual exclusion of the bending testing machine and the tensile sample:
Figure BDA0002653809210000221
wherein, in the formula, f is the fitness of an individual; m1Is the total number of the tensile testing machines; m2Is the total number of bending testers; m is the total number of the testers; a. theit(i＝1，2，…，M1) Is the ith (i ═ 1, 2, …, M)1) Testing the sample by a bench tensile testing machine for a preset time; b isit(i＝1，2，…，M1) Is the ith (i ═ 1, 2, …, M)1) The used time of the bench tensile testing machine for testing the workpiece; qjt(j＝1，2，…，M2) Is the j (j ═ 1, 2, …, M)2) Testing the sample by a bench bending testing machine for a preset time; pjt(j＝1，2，…，M2) Is the j (j ═ 1, 2, …, M)2) The elapsed time of the test on the sample by the bench bending tester; sit(i ═ 1, 2, …, M) is the time required for the manipulator to dispense a single time to the ith (i ═ 1, 2, …, M) test machine; u, v and w are factors introduced for the numerical calculation to be stable, when all the testing machines stop working, the u, v and w are equal to 0, otherwise the u, v and w are equal to 1; is thatA constant; q is a penalty factor for mutually exclusive test machines and is 0 when a tensile test specimen is matched to a bending test machine or a bending test specimen is matched to a tensile test machine, otherwise, is 1. The specific implementation process of solving the optimization problem is to set the population size and the maximum iteration times of the algorithm; initializing a binary group of random numbers based on a hybrid coding scheme to construct an individual; calculating the individual fitness according to the fitness calculation formula; sequencing individual fitness and recording the optimal individual; grading the chicken flock population and updating the individual positions based on an improved algorithm; randomly selecting a small part of individuals with poor fitness and varying solution space of the individuals; circularly iterating until the maximum iteration times; and decoding the matching information of the optimal individual output bin position and the testing machine to guide the manipulator to distribute the samples.
The robot control system scheduling optimization model based on the chicken flock algorithm and the genetic second-generation hybrid algorithm comprises a combined optimization problem solving algorithm aiming at equipment operation requirements of tensile and bending testing machines and the like, has the characteristics of strong global search capability, strong inspiration and the like, effectively improves the optimization speed and the system precision, and obviously increases the productivity in unit time; and the algorithm monitors the test process and continuously learns the previous test data, so that the robot can prejudge the finish time of each test in advance, provide a trigger feeding signal and reduce the waiting time of equipment.
In order to apply the above method, as shown in fig. 15, the test system for mechanical property samples in the present invention includes a tensile test component 13, a tensile test waste take-out device 9, a conveying device 10, a bending test component 11, a bending test waste take-out device 12, a bin 14, a guardrail 15, and a fixing plate 16;
the guardrail 15 is arranged on the fixing plate 16 and is positioned at the outer sides of the upper computer 3, the tensile testing assembly 13, the conveying device 10 and the bending testing assembly 11;
the upper computer 3 is connected with the conveying device 10 and is used for controlling the conveying device 10 to place a test sample to be tested on the tensile testing component 13 or the bending testing component 11; meanwhile, the upper computer 3 is electrically connected with the tensile test waste take-out device 9 and the bending test waste take-out device 12 respectively, and is used for controlling the tensile test waste take-out device 9 or the bending test waste take-out device 12 to take out the tested waste after the tensile test assembly 13 or the bending test assembly 11 finishes working.
Specific example IV: as shown in fig. 16, in order to improve the working efficiency, 1 upper computer 3, 2 tensile testing assemblies 13, 3 bending testing assemblies 11, and a bin 14 are arranged on a fixing plate 16 and surround the conveying device 10 with the conveying device 10 as a center.
As shown in fig. 17, the tensile testing assembly 13 includes a first gate-shaped bracket 1301, a beam 1302 arranged on the first gate-shaped bracket 1301, an upper tensile die 1303 arranged in the middle of the beam 1302, and a lower tensile die 1304 arranged at the bottom of the first gate-shaped bracket 1301; the upper stretching die 1303 and the lower stretching die 1304 are used for clamping a sample to be tested, and the beam 1302 moves up and down in the first door-shaped bracket 1301 to complete the stretching test.
The tensile test waste material taking-out device 9 comprises an upper waste material clamping mechanism 901 for clamping waste materials at one side far away from the ground and a lower waste material clamping mechanism 902 for clamping waste materials at one side close to the ground; the waste material loading mechanism 901 comprises an upper motor 9011 arranged on the beam 1302, an upper rocker arm 9012 arranged at the output end of the upper motor 9011, an upper clamp body 9014 and an upper cylinder 9013 for driving the upper clamp body 9014 to clamp waste materials; the output end of the upper motor 9011 is connected with one end of an upper rocker arm 9012; the other end of the upper rocker arm 9012 is connected with an upper clamp 9014, and is used for driving the upper clamp 9014 to approach/depart from the waste material through an upper motor 9011; the waste material discharging clamp mechanism 902 comprises a lower rocker arm 9021, a lower motor 9022, a lower clamp body 9023 and a lower cylinder 9024 for driving the lower clamp body 9023 to perform clamping action; the output end of the lower motor 9022 is connected with one end of the lower rocker arm 9021, the other end of the lower rocker arm 9021 is connected with the lower clamp 9023, and the lower clamp 9023 is driven by the lower motor 9022 to move close to or away from the waste. The upper motor 9011, the upper cylinder 9013, the lower motor 9022 and the lower cylinder 9024 are electrically connected with the upper computer 3.
Meanwhile, a chute 3A and a first waste bin 3B are provided at the bottom of the first gate-shaped bracket 1301 for placing a waste sample.
As shown in fig. 18, the bending test assembly 11 includes a second gantry 1101, a moving beam 1102 disposed in the second gantry 1101 and capable of moving up and down, a hold-down 1103 disposed on the moving beam 1102, and a lower mold 1104 disposed at the bottom of the second gantry 1101 and matched with the hold-down 1103 for placing a sample to be tested.
The bending test waste taking-out device 12 comprises a jacking cylinder 1201, an inclined guide plate 1202 and a waste box 1203; the jacking cylinder 1201 is arranged on one side of a mold for placing a sample to be tested; the inclined guide plate 1202 is obliquely arranged at the output end of the jacking cylinder 1201; one end of the inclined guide plate 1202, which is far away from the horizontal plane, is arranged below the sample to be tested; the end of the inclined guide plate 1202 near the horizontal plane is disposed above the waste box 1203.
As shown in fig. 19, the storage bin 14 includes a support frame 1401, a storage slot 1402 arranged on the support frame 1401, a pushing member 1403, and a cylinder 1404; wherein, the cylinder 1404 is arranged on the support frame 1401; the output end of the air cylinder 1404 is connected with one end of a pushing member 1403, and the other end of the pushing member 1403 is opposite to the bottom of the storage groove 1402; notches 1402A are arranged on two sides of the bottom of the storage groove 1402.
It is to be understood that: put thing groove 1402 can set up not unidimensional according to the demand, with the sample matching can, make the sample can be through gravity downstream in putting thing groove 1402 and do not take place the slope. The material pushing piece 1403 and the notch 1402A are matched with the sample, and the material pushing piece can be pushed out under the action of the air cylinder 1404.
The upper computer 3 can be connected with the cloud server through the wireless module and used for transmitting data of size detection and stretching and bending tests, and by using the information means, the test result is automatically uploaded in real time, the detection period is shorter, and the result is more reliable. The client can check corresponding information in time through the Internet, can also customize reminding, and achieves cloud detection.
The invention can be used for connecting different equipment combinations after a dimension measuring system, completing a plurality of project tests and expanding the application scene of the system.
It is to be understood that: the upper computer 3 controls the conveying manipulator 2 and the conveying device 10 simultaneously, and two upper computers 3 can be arranged to control respectively and independently according to needs.
The above description is only an embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily change or replace the present invention within the technical scope of the present invention. Therefore, the protection scope of the present invention is subject to the protection scope of the claims.

Claims (10)

1. An automated detection method, characterized in that: the control center controls the conveying device to transmit the test sample to be tested to the test station for tensile test or bending test, and when the tensile test or the bending test is performed, the conveying device is scheduled and optimized by adopting a mixed coding improved chicken flock algorithm, and the test time of the tensile test or the bending test is matched with the feeding and discharging time of the conveying device by establishing an optimization model, so that the test efficiency is improved.
2. An automated inspection method according to claim 1, characterized in that: the method comprises the following steps:
s1, constructing a production scheduling model;
s2, optimizing the production scheduling model in the step S1 through a hybrid coding improved chicken flock algorithm;
s3, guiding a conveying device to feed and discharge through the optimized production scheduling model;
wherein, the production scheduling model in the step of S1 is:
Figure FDA0002653809200000011
Figure FDA0002653809200000012
in the formula, theta is an optimization objective function; t iseEquivalent test time required for completing the test of a single workpiece under the current sample combination; t ismEquivalent delivery time of a manipulator for completing a single workpiece test; m is the total number of the testers; n is the total number of bins; qit(i ═ 1, 2, …, M) is the predetermined time for the test of the i (i ═ 1, 2, …, M) th tester on the workpiece; pit(i ═ 1, 2, …, M) is the elapsed time of the test machine of the ith (i ═ 1, 2, …, M) on the workpiece; sit(i ═ 1, 2, …, M) is the time required for the manipulator to dispense a single time to the ith (i ═ 1, 2, …, M) test machine; q when i (i-1, 2, …, M) th tester is not workingit(i＝1，2，…，M)、Pit(i ═ 1, 2, …, M) and Sit(i ═ 1, 2, …, M) equal to 0; the constant is used for avoiding the problem of algorithm calculation failure caused by the fact that a certain test machine does not participate in working so as to improve the effectiveness of the algorithm; etIs a set of predetermined test times for the test sample; ekt(k ═ 1, 2, …, N) is the predetermined test time for the sample in the kth (k ═ 1, 2, …, N) bin; u and v are factors introduced for the numerical calculation to be stable, and are equal to 0 when all the testers stop working, otherwise u and v are equal to 1.
3. An automated inspection method according to claim 2, wherein: the optimization process in the step S2 is as follows:
s201, initializing a binary group by a random number based on a mixed coding scheme to construct an individual;
s202, calculating the fitness of the individual according to the fitness calculation formula;
s203, sequencing the individual fitness and recording the optimal individual;
s204, grading the chicken flock population and updating the individual positions based on an improved algorithm;
s205, randomly selecting a part of individuals with poor fitness and varying solution spaces of the individuals;
s206, circularly iterating until the maximum iteration times;
and S207, decoding pairing information of the bin position of the optimal individual output bin, the tensile testing device and the bending testing device, and guiding the conveying device to distribute the test sample.
4. An automated inspection method according to claim 3, wherein: the improved chicken flock algorithm of the mixed coding comprises the following steps:
according to the objective function, the mutual exclusion of the tensile testing device and the bending test sample and the mutual exclusion of the bending testing machine and the tensile test sample, the individual fitness calculation formula of the improved chicken swarm algorithm of the mixed code has the following structural form:
Figure FDA0002653809200000031
Figure FDA0002653809200000032
Figure FDA0002653809200000033
Figure FDA0002653809200000034
wherein f is the fitness of the individual; m1Is the total number of the tensile testing machines; m2Is the total number of bending testers; m is the total number of the testers; a. theit(i＝1，2，…，M1) Is the ith (i ═ 1, 2, …, M)1) Testing the sample by a bench tensile testing machine for a preset time; b isit(i＝1，2，…，M1) Is the ith (i ═ 1, 2, …, M)1) The used time of the bench tensile testing machine for testing the workpiece; qjt(j＝1，2，…，M2) Is the j (j ═ 1, 2, …,M2) Testing the sample by a bench bending testing machine for a preset time; pjt(j＝1，2，…，M2) Is the j (j ═ 1, 2, …, M)2) The elapsed time of the test on the sample by the bench bending tester; sit(i ═ 1, 2, …, M) is the time required for the manipulator to dispense a single time to the ith (i ═ 1, 2, …, M) test machine; u, v and w are factors introduced for the numerical calculation to be stable, when all the testing machines stop working, the u, v and w are equal to 0, otherwise the u, v and w are equal to 1; is a constant; q is a penalty factor for mutually exclusive test machines and is 0 when a tensile test specimen is matched to a bending test machine or a bending test specimen is matched to a tensile test machine, otherwise, is 1.
5. An automated inspection method according to claim 2, wherein: the chicken flock algorithm is an improved chicken flock algorithm, and specifically comprises the following steps: the position of the ith hen after t forages in the ith dimensional space is as follows:
Figure FDA0002653809200000035
the formula for updating the hen position after t +1 foraging is as follows:
Figure FDA0002653809200000041
in the formula, rand is random numbers uniformly distributed among [0,1 ]; r is the cock in the group of the ith hen; s is any cock except the r-th cock in the whole chicken group; f. ofiIs the fitness of the ith hen; f. ofrIs the fitness of the r-th cock; f. ofsIs the fitness of the s-th cock; is a constant.
After improvement, the position of the ith chick after t forages in the ith dimensional space is as follows:
Figure FDA0002653809200000042
the formula for updating the position of the chicken after t +1 foraging is as follows:
Figure FDA0002653809200000043
wherein m is the hen followed; r is the cock followed; rand is [0,1]]Random numbers uniformly distributed among them; f. ofiIs the fitness of the ith chicken; f. ofmIs the fitness of the mth hen; f. ofrIs the fitness of the r-th cock; is a constant.
6. An automated inspection method according to claim 2, wherein: the improved chicken flock algorithm of the mixed coding expresses chicken flock individuals by a binary group < X, Y >, wherein X is a search space, Y is a solution space, and the specific coding form is as follows:
wherein N is the total number of bins;
Figure FDA0002653809200000044
is a fuzzy function; xijIs the position of the ith individual in the jth dimension, and the value range is [ -1,1 [)]The random number of (2); y isijThe value of the binary position corresponding to the ith individual in the jth dimension is 0 or 1, and the jth bin in the sample bin is represented as whether being selected or not.
7. Use of an automated test method according to any one of claims 1 to 6 for testing mechanical property samples.
8. An automated inspection system, comprising: the device comprises a rack (1), a conveying manipulator (2), an upper computer (3), a code scanning assembly (4), a positioning assembly (5), a code spraying assembly (6), a measuring assembly (7), a tensile test waste material taking-out device (9), a conveying device (10), a bending test assembly (11), a bending test waste material taking-out device (12), a tensile test assembly (13) and a storage bin (14), wherein the code scanning assembly (4), the positioning assembly (5), the code spraying assembly (6), the measuring assembly (7), the tensile test waste material taking-out device (;
the upper computer (3) is electrically connected with the code scanning assembly (4) and is used for collecting the incoming material information of the sample (8);
the upper computer (3) is electrically connected with the positioning component (5) and is used for detecting whether the sample (8) is in place or not and controlling the positioning component (5) to fix the sample;
the upper computer (3) is connected with the code spraying assembly (6) and is used for controlling the code spraying assembly (6) to spray a unique two-dimensional code on the sample (8);
the upper computer (3) is electrically connected with the measuring component (7) and is used for collecting size data of the sample (8) and judging the type of the sample (8) according to the size information;
the upper computer (3) is electrically connected with the conveying manipulator (2) and is used for conveying the sample (8) to the storage bin (14) after the sample (8) is placed on the positioning assembly (5) to be positioned and the type of the sample (8) is judged;
the upper computer (3) is connected with the conveying device (10) and is used for controlling the conveying device (10) to place a sample to be tested on the tensile testing component (13) or the bending testing component (11); and meanwhile, the upper computer (3) is electrically connected with the tensile test waste material taking-out device (9) and the bending test waste material taking-out device (12) respectively and is used for controlling the tensile test waste material taking-out device (9) and the bending test waste material taking-out device (12) to take out the tested waste material after the tensile test assembly (13) or the bending test assembly (11) finishes working so as to complete the measuring process.
9. An automated inspection system according to claim 8, wherein: the code scanning assembly (4) comprises a code scanning gun (401) electrically connected with the upper computer (3) or a code scanning unit (402) electrically connected with the upper computer (3), and a door-shaped code scanning support (403) arranged on the rack (1);
the code scanning unit (402) is arranged on a beam of the code scanning support (403) and the detection end is arranged downwards.
10. An automated inspection system according to claim 8, wherein: the measuring assembly (7) comprises a first slide rail mechanism (701) for measuring the thickness of the test sample (8), a second slide rail mechanism (702) for measuring the length and the width of the test sample (8) and a fixed frame body (703) for arranging the first slide rail mechanism (701) and the second slide rail mechanism (702);
the fixed frame body (703) is arranged on the rack (1) and can move linearly along the rack (1); a first sliding rail mechanism (701) is arranged on the side surface of the fixed frame body (703) vertical to the ground; the side surface of the fixed frame body (703) far away from the positioning assembly (5) is provided with a second sliding rail mechanism (702), the second sliding rail mechanism (702) can do linear motion along the fixed frame body (703), and the motion direction of the second sliding rail mechanism (702) is vertical to the motion direction of the fixed frame body (703).
CN202010879940.8A 2020-08-27 2020-08-27 Automatic detection method, detection system and application Pending CN111948413A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116502979A (en) * 2023-04-26 2023-07-28 巴斯夫一体化基地(广东)有限公司 Method and apparatus for generating a dispatch plan for a test sample

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116502979A (en) * 2023-04-26 2023-07-28 巴斯夫一体化基地(广东)有限公司 Method and apparatus for generating a dispatch plan for a test sample

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