CN211697252U - Manipulator of automatic material stretching experimental device - Google Patents

Abstract

The utility model provides an automatic change tensile experimental apparatus manipulator of material includes two X axle slide rails, the X axle slider of being connected with X axle slide rail, the vaulting pole of dress on X axle slider, erect the hack lever at the vaulting pole tip, install the Y axle slide rail above the hack lever, the Y axle slider of being connected with Y axle slide rail, the Z axle slider of being connected with Y axle slider, the Z axle slide rail of being connected with Z axle slider, it gets the device to install the clamp that is used for pressing from both sides to get the test piece on the Z axle slide rail, adjust the position of getting the device of pressing from both sides through the relative movement of servo motor drive X, Y, Z axle slider rather than the place slide rail. The utility model discloses automatic tensile experimental apparatus manipulator of material realizes unloading in automation through automatic electrical control system and mechanical structure design, has broken away from the artifical loaded down with trivial details operation of unloading of traditional equipment, has greatly improved the accuracy and the efficiency of experiment.

Description

Manipulator of automatic material stretching experimental device

[ technical field ] A method for producing a semiconductor device

The utility model relates to an automation equipment technical field specifically is an automatic change tensile experimental apparatus manipulator of material.

[ background of the invention ]

The tensile test of the material is one of the basic methods for testing the mechanical properties of the material, and is mainly used for testing whether the material meets the specified standards and researching the properties of the material. Taking the application of metal materials in the field of construction as an example, in a reinforced concrete structure, concrete mainly plays a role in compression resistance, and reinforcing steel mainly plays a role in tension resistance. The mechanical reaction of a reinforced concrete structure depends to a large extent on the material properties of the reinforced concrete.

Tensile testing can measure a series of strength and plasticity indexes of a material, and strength generally refers to the ability of the material to resist elastic deformation, plastic deformation and fracture under the action of external force. When a material is subjected to a tensile load, the phenomenon in which the load does not increase but significant plastic deformation continues is called yield, and the stress at which yield occurs is called the yield point or physical yield strength. There are many materials in engineering that do not have a significant yield point, and the yield strength is usually the stress value at which the material undergoes a residual plastic deformation of 0.2%, referred to as the conditioned yield limit or conditioned yield strength, and the maximum stress value reached by the material before fracture, referred to as the tensile strength or strength limit. Plasticity refers to the ability of a metal material to plastically deform under a load without failure, and is commonly indicated by elongation and reduction of area. The elongation is also called elongation, and refers to the percentage of the ratio of the total elongation to the original length of a material sample after being broken by a tensile load, and the reduction of area refers to the percentage of the reduced area of the section to the original section area of the material sample after being broken by the tensile load.

At present, most quality inspection mechanisms and teaching mechanisms still adopt personnel to feed and discharge steel bar test pieces in the steel bar tensile test determination process, the personnel move a steel bar test piece to be tested from a material turnover trolley, the steel bar test piece to be tested is placed in the center of a chuck of a universal machine, a chuck starting button is pressed, the chuck acts and clamps the steel bar test piece to be tested, the test starting button is pressed, and the universal machine performs tensile strength test determination. This traditional equipment and operation mode need artifical frequent transport test piece and go up unloading, therefore intensity of labour is big, inefficiency, with high costs.

Therefore, it is an urgent need in the art to provide an automatic material testing stretching apparatus with improved efficiency and reduced cost.

[ Utility model ] content

To the above problem, the utility model discloses automatic tensile experimental apparatus manipulator of material realizes unloading in automation through automatic electrical control system and mechanical structure design, has broken away from the artifical loaded down with trivial details operation of unloading of traditional equipment, has greatly improved the accuracy and the efficiency of experiment.

For solving the problem, the utility model discloses automatic tensile experimental apparatus manipulator of material includes two X axle slide rails that are parallel to each other, X axle slider with X axle slide rail portable connection, vertical vaulting pole of installing on X axle slider, erects the hack lever at two vaulting pole tip, install the Y axle slide rail above the hack lever, with Y axle slide rail portable connection's Y axle slider, with the Z axle slider of the perpendicular fixed connection of Y axle slider, with Z axle slider portable connection's Z axle slide rail, install on the Z axle slide rail and be used for pressing from both sides the clamp of getting the test piece and get the device, come the position of adjusting clamp and getting the device through the relative movement of servo motor drive X, Y, Z axle slider rather than place slide rail.

Furthermore, the X, Y, Z axle slide rail structures are the same, are hollow tubular structures, and the X, Y, Z axle slider structures are the same, all overlap on its corresponding X, Y, Z axle slide rail.

Furthermore, a servo motor is installed at the front end of one of the X-axis slide rails, a synchronous toothed belt is installed inside the X-axis slide rail, a rotating shaft is connected between the two X-axis slide rails, the X-axis slide block is connected with the synchronous toothed belt, and the servo motor and the synchronous toothed belt drive the X-axis slide block to synchronously move along the two X-axis slide rails.

Furthermore, a servo motor is installed at the end part of the Y-axis slide rail, a screw rod is installed inside the Y-axis slide rail, the Y-axis slide block is connected with the screw rod through threads, and the servo motor drives the screw rod to rotate so as to drive the Y-axis slide block to move along the Y-axis slide rail.

Furthermore, the Z-axis sliding block is vertically and fixedly connected with the Y-axis sliding block, the Z-axis sliding block is sleeved on the Z-axis sliding rail, the end part of the Z-axis sliding rail is provided with a servo motor, the servo motor is internally provided with a lead screw, and the servo motor drives the Z-axis sliding rail to move up and down through the lead screw.

Further, press from both sides and get the device and include servo motor, the swivel axis seat, servo motor is connected with the reduction gear, be connected with the shaft coupling on the reduction gear, be connected with the pivot on the shaft coupling, the pivot alternates in the swivel axis seat, the end connection of pivot has the cylinder bedplate, install the cylinder on the cylinder bedplate, the cylinder clamp is installed to the cylinder front end, drive opening and shutting of cylinder clamp through the cylinder effect, press from both sides the level of getting and place at the tray with this, or the test piece in the storage silo, the cylinder clamp is got and is rotated under servo motor and reduction gear's effect behind the test piece, make the test piece be in vertical state, carry out the experiment in sending the test piece into universal machine through X, Y, Z axle slider and.

Moreover, the design through tray and storage silo can satisfy the use of isostructure test piece and can guarantee the circulation and the continuation of feed again, realizes that the automatic clamp of all-round full angle is got and is delivered the test piece through the five-axis design of manipulator.

[ description of the drawings ]

Fig. 1 is the structure schematic diagram of the manipulator of the automatic material stretching experimental device of the utility model.

Fig. 2 is the structure schematic diagram inside the manipulator housing of the automatic material tensile experimental device of the utility model.

Fig. 3 is a partially enlarged view of a portion a in fig. 1.

Fig. 4 is a schematic structural diagram of the universal machine in the manipulator of the automatic material tensile experimental device of the utility model.

Fig. 5 is a schematic structural diagram of a tray in a manipulator of the automatic material tensile testing device of the utility model.

Fig. 6 is a schematic structural diagram of the supporting block in the manipulator of the automatic material tensile experimental apparatus of the utility model.

Fig. 7 is the structural schematic diagram of the storage silo in the manipulator of the automatic material tensile experimental device of the utility model.

Fig. 8 is the utility model discloses the structural schematic diagram of automatic tensile experimental apparatus manipulator mesocycle material loading subassembly of material.

Fig. 9 is a partial enlarged view at B in fig. 8.

Fig. 10 is a side view of the cyclic feeding assembly in the robot of the automatic material tensile testing apparatus of the present invention.

Fig. 11 is a schematic structural diagram of the manipulator of the automatic material stretching experimental device of the present invention.

Fig. 12 is a partial enlarged view at C in fig. 11.

Fig. 13 is a top view of the pneumatic cylinder clamp in the manipulator of the automatic material tensile testing apparatus of the present invention.

Fig. 14 is a control system schematic diagram of the manipulator of the automatic material stretching experimental device of the present invention.

[ detailed description ] embodiments

The directional terms of the present invention, such as "up", "down", "front", "back", "left", "right", "inner", "outer", "side", etc., are only directions in the drawings, and are only used for explaining and explaining the present invention, but not for limiting the scope of the present invention.

Referring to fig. 1 to 3, the utility model discloses automatic change tensile experimental apparatus's of material component structure is given, it includes casing 1, install the inside universal machine 2 that is used for tensile experiment of casing, for the universal machine provides tray 3 and the storage silo 4 of test piece, be arranged in snatching the test piece and send into manipulator 5 among the universal machine, the transfer chain 6 that is used for transporting the experiment waste material. The shell 1 comprises a frame consisting of a plurality of aluminum profiles and a coaming consisting of a plurality of plates, wherein the frame is used for mounting and bearing other parts, the coaming is used for protecting equipment in the shell, and the shell 1 is divided into an upper part and a lower part. The universal machine 2, the tray 3 and the manipulator 5 are mounted in the upper half of the housing, and the manipulator 5 is mounted between the universal machine 2 and the tray 3. Storage silo 4 and transfer chain 6 install the lower half in the casing, and storage silo 4 is located tray 3 under, and transfer chain 6 is located omnipotent machine 2 under. The conveying line 6 comprises a horizontal section 601 and a rotary section 602, the rotary section can rotate around the joint of the rotary section and the horizontal section, the horizontal section and the rotary section both comprise a conveying belt and supporting legs, a test piece for completing an experiment is sent out by the conveying belt of the horizontal section, and waste materials of the test piece are sent into a waste barrel (not shown) to be collected by the aid of the rotary section through the mountain adjustment. In addition, the bottom of landing leg and the bottom of casing 1 all install and adjust callus on the sole 603, make fully contact between equipment and the ground through adjusting the callus on the sole, prevent that equipment from producing and rocking. The side-mounting of casing 1 has adjustable display screen 7, adjustable display screen 7 is including installing montant 702, the horizontal pole 703 on montant top, the horizontal rotation connection of can establishing in the horizontal pole one end of the vertical pole top of set-square vertical pole 702, the bottom of installing on casing 1, a pot head joint 704, the mounting panel 705 of swivelling joint on connecting 704 about can, fixed connection display screen 706 on the mounting panel, but makes the display screen rotation of arbitrary angle through many rotatable designs, makes things convenient for the staff to observe and operate.

Referring to fig. 4, a composition structure of a universal machine 2 is provided, which includes a machine base 201 installed on an aluminum section in a housing 1, the machine base is provided with four circular first through holes 202, slide rods 203 are inserted into the first through holes 202, end covers 204 are installed at top ends of the slide rods 203, hydraulic machines 205 are respectively and fixedly installed on left and right sides of the machine base 201, a movable beam 206 is sleeved on the slide rods between the end covers 204 and the machine base 201, jaws 207 are installed at a bottom center of the movable beam 206 and a bottom center of the machine base 201, two sides of the movable beam 206 are connected with the hydraulic machines 205, a test piece is placed between the movable beam 206 and the machine base 201 by a manipulator 5, two ends of the test piece are respectively clamped by the upper and lower jaws 207, the manipulator 5 is withdrawn and then starts the hydraulic machines 205 to drive the movable beam 206 to provide an upward thrust to move upwards along the slide rods 203, so as to stretch.

Referring to fig. 5 and 6, the composition structure of the tray 3 in the manipulator of the automatic material tensile testing device of the present invention is shown, in the tensile test, the test piece generally includes four structures of integrated forming, butt welding, lap welding, sleeve welding, etc., and in the tensile test of each test piece, three test pieces are usually taken to respectively perform the test and take the average value, therefore, the tray 3 includes a supporting plate 301 installed on the housing 1, the supporting plate 301 is a rectangular frame, two parallel grooves are opened on the upper surface of the supporting plate, a plurality of supporting blocks 302 are installed in the grooves, the supporting blocks in the two grooves are collinear, the supporting blocks 302 are L-shaped structures, specifically, a horizontal cross bar and a vertical upright post, two through holes are opened on the upright post, a rotating bracket 303 is installed in the through holes, the bottom of the rotating bracket 303 is horizontal structure, the right end is arc from the bottom upwards and is inserted into the through hole on the upright post, pass stand and runing rest 303 through the pin, make the runing rest can round the pin upwards rotatory, V type groove 304 has all been seted up on the horizontal pole of supporting shoe 302 and the runing rest 303, a set of both ends of waiting to test the test piece are erect respectively in V type groove, in the experimentation, manipulator 5 takes the test piece from tray 3, get one at every turn, offer earlier by the superiors and take, when taking the test piece on second floor, manipulator 5 cliies the test piece on second floor and upward movement, the runing rest 303 that promotes the upper strata in the motion process is rotatory, make the test piece can be taken out smoothly, the same reason when taking the third layer test piece.

Referring to fig. 7 to 10, the composition structure of the storage bin 4 is shown, and the storage bin can provide more storage positions relative to the tray 3, so that in the experimental process, if no lap welding structure exists in the test piece to be tested, the storage bin is preferably supplied by the storage bin, the storage bin 4 comprises a protective shell and a circulating feeding assembly, wherein the protective shell comprises a surrounding plate surrounding the periphery of the circulating feeding assembly and a top plate covering the upper part of the circulating feeding assembly, the top plate is provided with two concave plates which are oppositely arranged, and the manipulator 5 clamps the test piece through a gap formed by the two concave plates to perform the experiment. The circulation material loading subassembly includes a base 401 of being made by metal material, the circulation material loading subassembly passes through base 401 and installs on casing 1, installs two curb plates 402 that are parallel to each other about perpendicularly on base 401, and two curb plates pass through reinforcing plate 404 to be connected, installs two deflector 403 that are parallel to each other between two curb plates 402, deflector 403 passes through the welding machine and installs on base 401, and two deflectors are the crescent structure of cambered surface undercut. The circulating feeding assembly further comprises a transmission shaft 404, and two ends of the transmission shaft 404 respectively penetrate through the side plates 402 and are rotatably connected with the side plates through bearings. Two end sleeves of the transmission shaft 404 are sleeved with a driving sprocket 405, and the driving sprocket and the transmission shaft are locked through a pin so as to synchronously rotate. Two driven sprockets 406 are mounted at the top ends of the two side plates 402, the driven sprockets 406 are rotatably connected with the side plates through pins and bearings, and the driving sprocket 405 and the driven sprockets 406 are synchronously driven through a chain 407. The chain 407 is a conveying chain, namely, the chain is provided with accessory pieces 408, each accessory piece 408 is connected with an accessory clamp plate 409, each accessory clamp plate 409 is of an arc-shaped structure, two adjacent accessory clamp plates are oppositely arranged to form a containing structure through the two arc-shaped structures, two ends of a test piece to be tested are clamped in the containing structure formed by the two accessory clamp plates 409, a tensioning mechanism is further installed between one pair of driving chain wheels 405 and one pair of driven chain wheels 406, one driven chain wheel is connected with the side plate 402 through a waist-shaped hole, the distance between the driving chain wheel and the driven chain wheel is adjusted through the tensioning mechanism, and therefore stable operation of the chain is guaranteed. The left end of the transmission shaft 404 penetrates through the side plate 402, a ratchet wheel 410 is sleeved on the transmission shaft on the outer side of the side plate, the ratchet wheel is connected with the transmission shaft through a pin, the ratchet wheel and the transmission shaft can synchronously rotate, a ratchet wheel rocker 411 is further sleeved on the transmission shaft 404 on the outer side of the ratchet wheel 410, and the transmission shaft and the ratchet wheel rocker are in clearance fit and can relatively rotate. An angle support 412 is fixedly arranged on the side face of the side plate 402, a pneumatic device is connected through the angle support, the pneumatic device comprises a cylinder 413 and a push rod 414, the bottom of the cylinder is rotatably connected to the angle support 412, and the push rod 414 is rotatably connected with a ratchet rocker 411 through a Y-shaped joint. Two transverse pins are mounted on the ratchet rocker 411, a claw 415 is rotatably connected to one pin, one end of the claw is connected with the other pin through a spring, a fixing support 416 is mounted below the ratchet 410, two transverse pins with different heights are mounted on the fixing support, the transverse pin above the claw is connected with the claw 415, the tail end of the claw is connected with the transverse pin below the claw through the spring, the top ends of the two claws 415 are tightly abutted to the ratchet 410 through the tension force of the spring, a supporting plate 417 is mounted at the tail end of the base 401, the tail end of the transmission shaft 404 is inserted into the supporting plate and is rotatably connected with the supporting plate through a bearing, and therefore the stability of the transmission shaft 404 is improved. When the push rod 414 is driven to make telescopic motion by the cylinder 413, the push rod 414 pushes the ratchet rocker 411 to rotate downwards around the transmission shaft 404 when being extended, and drives the ratchet 410 to rotate anticlockwise for one tooth position around the axis of the transmission shaft 404 with the claw 415, and when the push rod is retracted, the push rod 414 pulls the ratchet rocker 411 to rotate upwards around the transmission shaft, and because of the special tooth direction of the ratchet, the process cannot drive the ratchet to rotate reversely. Ratchet 410 rotates in-process drive transmission shaft 404 rotatory, and transmission shaft 404 drives drive sprocket 405 rotatory, and drive sprocket 405 passes through chain 407 drive driven sprocket 406 synchronous revolution, and chain 407 is when the motion, and the open angle of cardboard 409 that is close to the top more is big more, and two cardboard angles of the top reach the biggest, and manipulator 5 passes the smooth clamp of the breach on the protective housing and treats the test piece of experiment.

Referring to fig. 11 to 13, the utility model discloses manipulator 5's component structure in the tensile experimental apparatus manipulator of automatic material, manipulator 5 includes two parallel mount of each other X axle slide rail 501 in tray 3 both sides, X axle slide rail 501 passes through the set-square and installs on the casing, and X axle slide rail is hollow tubular structure, and its top has apron 502, and the gear is installed respectively at its both ends, and the gear at same root X axle slide rail 501 both ends passes through cog belt synchronous transmission, and servo motor 503 is installed to the one end of left X axle slide rail 501, and the gear rotation on the X axle slide rail 501 in servo motor drive left side, and the gear on the X axle slide rail in left side is connected through the pivot with the gear on the X axle slide rail in right side to this drives two synchronous cog belt operations through servo motor 503. An X-axis slider 504 is sleeved on the cover plate 502, the bottom of the X-axis slider 504 is connected with a toothed belt inside an X-axis slide rail, and the X-axis slider 504 is driven by the toothed belt to move along the cover plate 502. Vertical upward supporting rods 505 are arranged on the two X-axis sliding blocks 504, the top ends of the two supporting rods are connected with a supporting rod 506, Y-axis sliding rails 507 are arranged on the supporting rod 506, the Y-axis sliding rails are similar to the X-axis sliding rails in structure and are of a hollow tubular structure, a cover plate 502 is arranged at the top of each supporting rod, a servo motor 503 is also arranged at the left end of each supporting rod, a screw rod is arranged in each supporting rod, a Y-axis sliding block 508 is sleeved on each cover plate and is sleeved on each screw rod through a threaded hole, the servo motor 503 drives the screw rods to rotate, and. The Y-axis slider 508 is vertically connected with the Z-axis slider 509 through a connecting plate, the Z-axis slider is connected with a Z-axis slide rail 510, the structure of the Z-axis slide rail is the same as that of the Y-axis slide rail, the top of the Z-axis slide rail is provided with a servo motor 503, the inside of the Z-axis slide rail is provided with a lead screw, the side face of the Z-axis slide rail is provided with a cover plate 502, the Z-axis slider is sleeved on the cover plate and is connected with the inside lead screw, and the servo motor drives the lead screw. Device is got to bottom installation clamp of Z axle slide rail 510, it includes servo motor 503 to get the device, servo motor is connected with reduction gear 511, be connected with shaft coupling 512 on the reduction gear, be connected with pivot 513 on the shaft coupling, pivot 513 alternates in swivel bearing seat 514, the end connection of pivot has cylinder bedplate 515, install cylinder 516 on the cylinder bedplate 515, cylinder clamp 517 is installed to the cylinder front end, drive opening and shutting of cylinder clamp through the cylinder effect, press from both sides the test piece of putting in tray 3 or storage silo 4 of level with this clamp. The cylinder clamp clamps the test piece and then rotates under the action of the servo motor and the speed reducer, so that the test piece is in a vertical state, and the test piece is conveyed into the universal machine 2 for experiment through the transmission of the X, Y, Z shaft sliding block and the sliding rail.

Referring to fig. 14, a control system schematic diagram is given, the control system comprises a feeding control system and a universal machine control system, the feeding control system and the universal machine control system are interconnected based on a PLC, the feeding control system comprises a closed-loop control of a manipulator and a closed-loop control of a tray and a storage bin, the closed-loop control of the manipulator comprises a driver, a servo motor, a photoelectric sensor and an encoder, the driver drives the servo motor to operate according to control requirements, the photoelectric sensor near the manipulator and the encoder on the servo motor collect the position of the operated motor and feed back the position to the driver, the driver compares the actual position of the servo motor according to feedback information, the comparison result is used for adjusting the position of the motor again, and the position of the manipulator is accurately controlled in a closed-loop control mode, so that the manipulator can accurately clamp a test. The closed-loop control system of tray and storage silo passes through the solenoid valve control air supply and gets into the cylinder, thereby the cylinder passes through two sets of chains of ratchet drive and realizes the continuous cycle feed, and the position after the cylinder action at every turn all is gathered by proximity sensor, then feeds back the information of gathering to control system, guarantees the accurate material loading of equipment from this. The universal machine control system transmits the control requirement to the driver in a communication mode, the driver drives the servo oil pump to convey hydraulic oil to a distributor valve seat below the universal machine according to the requirement, and meanwhile, the universal machine control system controls the trend of the hydraulic oil through an electromagnetic valve on the distributor valve seat, so that the action of the oil cylinder and the jaw is controlled. The load sensor, the electronic extensometer and the encoder near the jaw of the universal machine are used for collecting and sending parameters such as pressure, workpiece deformation and the like of the oil cylinder and the jaw to the control system, the universal machine control system continuously adjusts output of the driver and the electromagnetic valve according to feedback information to meet control requirements of different experiments, and finally the universal machine control system automatically calculates mechanical properties of the test piece according to the feedback information. After the experiment is finished, the control command is sent to the frequency converter by the universal machine control system, the frequency converter drives the motor of the conveying line according to the requirement, and the motor drives the conveying belt to discharge waste materials.

The utility model discloses automatic tensile experimental apparatus manipulator of material realizes unloading in automation through automatic electrical control system and mechanical structure design, can satisfy the use of isostructure test piece and can guarantee the circulation of feed again and last through the design of tray and storage silo, realizes that the automatic clamp of all-round full angle is got and deliver the test piece through five-axis design of manipulator, has broken away from the artifical loaded down with trivial details operation of unloading of conventional equipment, has greatly improved the accuracy and the efficiency of experiment.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims (6)

1. The mechanical arm is characterized by comprising two X-axis sliding rails (501) which are parallel to each other, an X-axis sliding block (504) movably connected with the X-axis sliding rails, a supporting rod (505) vertically installed on the X-axis sliding blocks, a frame rod (506) erected at the end parts of the two supporting rods, a Y-axis sliding rail (507) installed above the frame rod, a Y-axis sliding block (508) movably connected with the Y-axis sliding rails, a Z-axis sliding block (509) vertically and fixedly connected with the Y-axis sliding blocks and a Z-axis sliding rail (510) movably connected with the Z-axis sliding blocks, wherein a clamping device used for clamping a test piece is installed on the Z-axis sliding rails, and the position of the clamping device is adjusted by driving X, Y, Z-axis sliding blocks to move relative to the sliding rails where the clamping device is located through a servo motor (503).

2. The automated material tensile testing apparatus manipulator of claim 1, wherein the X, Y, Z axle slide rails are identical in structure and are all hollow tubular structures, and the X, Y, Z axle slide blocks are identical in structure and are all sleeved on the X, Y, Z axle slide rails corresponding to the X, Y, Z axle slide rails.

3. The mechanical arm of the automatic material stretching experiment device according to claim 1, wherein a servo motor (503) is installed at the front end of one of the X-axis slide rails (501), a synchronous cog belt is installed inside the X-axis slide rail, a rotating shaft is connected between the two X-axis slide rails, an X-axis slide block (504) is connected with the synchronous cog belt, and the X-axis slide block is driven to synchronously move along the two X-axis slide rails through the servo motor and the synchronous cog belt.

4. The manipulator of the automatic material stretching experiment device as claimed in claim 1, wherein a servo motor (503) is installed at the end of the Y-axis slide rail (507), a lead screw is installed inside the Y-axis slide rail, the Y-axis slide block (508) is connected with the lead screw through a thread, and the servo motor drives the lead screw to rotate, so that the Y-axis slide block is driven to move along the Y-axis slide rail.

5. The mechanical arm of the automatic material stretching experimental device according to claim 1, wherein the Z-axis slider (509) is vertically and fixedly connected with the Y-axis slider (508), the Z-axis slider is sleeved on a Z-axis slide rail (510), a servo motor (503) is installed at the end of the Z-axis slide rail, a lead screw is installed inside the Z-axis slide rail, and the servo motor drives the Z-axis slide rail (510) to move up and down through the lead screw.

6. The automated material tensile testing apparatus manipulator of claim 1, the clamping device comprises a servo motor (503) and a rotating shaft support (514), the servo motor is connected with a speed reducer (511), the speed reducer is connected with a coupler (512), the coupler is connected with a rotating shaft (513), the rotating shaft (513) is inserted into the rotating shaft support (514), the end part of the rotating shaft (513) is connected with an air cylinder seat plate (515), an air cylinder (516) is arranged on the air cylinder seat plate (515), an air cylinder clamp (517) is arranged at the front end of the air cylinder, the opening and closing of the cylinder clamp are driven by the action of the cylinder, so that a test piece horizontally placed in the tray (3) or the storage bin (4) is clamped, the cylinder clamp rotates under the action of the servo motor and the reducer after clamping the test piece, the test piece is in a vertical state, the test piece is sent into the universal machine (2) for experiment through the transmission of the X, Y, Z shaft sliding block and the sliding rail.

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