JP3410242B2 - Supply / recovery method and supply / recovery device for test piece in automatic tensile tester - Google Patents

Description

Detailed Description of the Invention

[0001]

The present invention relates to a supply and recovery method and supplying and collecting apparatus of the test piece in an automatic tensile testing machine for performing a tensile test specimens such as a metal material automatically.

[0002]

2. Description of the Related Art FIG. 6 shows a conventional automatic tensile test apparatus.
The structure shown in is known. In the figure, reference numeral 1 denotes a test piece, which is in the shape of a plate having enlarged portions 1b for gripping at both ends of a thin parallel portion 1a at the center. A large number of the test pieces 1 are stacked and placed in front of the fixed plate a1 of the supply device a. Two facing guide plates a2 and a2 are arranged on the fixed plate a1, and the tip end portion a2 'of the guide plate is rotated as shown by the arrow to press the laminated body of the test piece 1 against the fixed plate a1 for positioning. To do.

Reference numeral b is a conveying device, a crossbar b2 attached to the rod tip of a cylinder b1 runs on the left and right rails b3, and suction cups b near the left and right ends of the crossbar b2.
4 adsorbs the test piece 1 on the top of the laminated body in the supply device a and moves it to the thickness measuring device c.

The thickness measuring device c has a link mechanism c2 driven by a cylinder c1, and the test piece 1 carried by a carrying device b is sandwiched between the tips of the link mechanism c2 as shown in the figure. The thickness of the test piece 1 is measured by the length measuring detector c3.

When the thickness measurement is completed, the setting device d
Grips the vicinity of the center of the test piece 1 and receives the test piece 1 from the thickness measuring device c. The test piece 1 is rotated by the setting device d so as to be in a vertical direction, and at the same time, moves to perform a tensile test. Opposing chucks e provided on the machine e
It is inserted between 1 and e1.

Each of the chucks e1 has two movable gripping pieces e2, and the driving means (not shown) approaches the grips to grip the enlarged portions at both ends of the test piece 1 as shown in FIG. In this way, when the chucks e1 and e1 clamp and hold the enlarged portion of the test piece 1, the cross head e3 moves so as to separate the chucks e1 and e1 from each other in the vertical direction in the figure,
A tensile load is applied to the test piece 1. The tensile load is measured every moment by a load detector e4 such as a load cell.

In FIG. 6, f is a contact type strain measuring device, and the upper and lower sandwiching bodies f1 and f1 are chucks e.
1 and e1 are sandwiched at two positions apart from each other in the longitudinal direction of the test piece 1 before being gripped and subjected to a tensile load. The extension of the test piece 1 is measured by, for example, measuring with a linear encoder f2 that the distance between the sandwiching bodies f1 and f1 increases as the tensile load increases.

[0008]

As described above, the test piece is automatically supplied to the tensile tester by the setting device. Further, it is required to automatically recover the tested specimen or the specimen having elongation.

However, since the test piece breaks in the tensile breaking test in the tensile testing machine, it is necessary to collect the two broken test pieces (hereinafter referred to as "broken pieces"). If they are collected one by one, there is a problem that the test cycle time of each test piece becomes long and the test efficiency deteriorates. Also, in the tensile test, the elongation (final strain) after tension varies depending on the size and material characteristics of each target specimen, and the position where the crosshead chuck after tension grips the specimen is It comes in various positions.

Therefore, it is conceivable to temporarily move the chuck together with the broken pieces to a certain position, which is assumed to be the most elongated in the tensile breaking test, and collect the broken pieces from that position. Since the cross head that is being used must always be moved largely from the most extended position to the position at the start of the test, there arises a problem that the cycle time of the test becomes long.

The applicant of the present invention has also proposed an automatic tensile tester (Japanese Patent Application No. 5-197148) which automatically supplies and collects test pieces to and from the tensile tester by a setting device using a robot hand. ), The automatic tensile tester first collects the test piece of the tensile tester with the setting device, then grips the test piece from the supply side of the test piece and supplies it to the tensile tester. I am trying to do the operation. Therefore, the setting device must first collect the test piece by waiting at the position of the tensile tester until the end of the test or moving to the position of the tensile tester at the end of the test. Waste of cycle time.

An object of the present invention is to shorten the cycle time in the automatic tensile tester by reducing the operation in the tensile tester and the operation of supplying and collecting the test pieces.

[0013]

Means for Solving the Problems In order to solve the above-mentioned problems, the test piece of the automatic tensile test apparatus of the present invention is
Supply and recovery methods, to the tensile tester performs a tensile test by pulling the test piece at a crosshead, supplied with the test strip supply means
While supplying the prepared test piece with the setting device,
The test piece is broken by the tensile tester to a supply and recovery method of the test piece in an automatic tensile testing machine to recover the collecting unit by the setting device, as the setting device, which is supplied with the test strip supply means test Grip a piece
A supply hand dedicated to supply and a pair of grips corresponding to each of the two broken test pieces in the tensile tester are provided.
For collection only for collection with the position of the gripping part adjustable
Using a setting device having a hand part composed of a hand, the hand part of the setting device is subjected to the test.
Move to the position of the one-sided feeding means and perform the test with the feeding hand.
Grasping the test piece of the piece supply means,
Move to the position of the test machine and grasp the test piece with the supply hand.
While holding , adjust the position of the gripping part of the recovery hand based on the position information of the crosshead of the tensile tester, and the broken part of the tensile tester with the gripping part whose position is adjusted. Grasp each test piece and remove it .
Hold the recovery part in the position of the tensile tester.
While holding the test piece with the
Switch between the feeding hand and hold with the feeding hand
The test piece that is
Move to the position of the collecting part and hold it with the collecting hand.
The test pieces are characterized by being adapted to recover to the recovery section.

Further, the apparatus for supplying and recovering the test piece in the automatic tensile test apparatus of the present invention is such that the test piece is pulled by the crosshead.
For the tensile tester that performs the tensile test,
A test strip supply / recovery device in an automatic tensile test device for recovering a test strip ruptured by the tensile tester into a recovery unit by the setting device while supplying the test strips supplied in stages by a setting device , Provide the test piece with the tip.
Can be moved to the position of the feeding means, the tensile tester and the recovery part
Noble arm and hand attached to the tip of the arm
And a hand part for supplying the test piece.
Supply hand dedicated to supply, which holds the test piece supplied by means, and two broken tests in the tensile tester
It consists of a pair of adjustable grips that correspond to each of the pieces.
That a setting device configured with the recovery dedicated recovery hand, and the arm of the setting device, the Han
And a control for controlling the position of the grip portion of the hand portion
Comprising apparatus and, wherein the control unit moves the the hand portion of the setting device to the position of the test strip supply means
Holding the test piece of the test piece feeding means before Symbol supplying hand, by moving the hand portion to the position of the tensile tester, before
While holding the test piece with the hand for supply,
The collection based on the position information of the crosshead of the test machine
Adjusting the position of the grip of the hand, the position was adjusted
The broken specimens of the tensile tester gripper it
Grasp and remove each, and place the hand part on the position of the tensile tester.
The test piece was held by the recovery hand in the state in which the test piece was placed.
Switch between the collecting hand and the supplying hand
Te, the test piece being gripped by the feed hand fed into the tensile testing machine, moving the hand portion to the position of the collecting portion
The test piece is gripped in front Symbol recovery hand Te and controls so as to recover to the recovery section.

[0015]

[Function] The test piece is provided in the automatic tensile test apparatus of the present invention.
In the supply / recovery method, the test piece supply means is used as a setting device to collect the test piece that is broken by the tensile tester.
Dedicated supply hand that holds the supplied test piece
And a recovery-dedicated recovery hand having a pair of grips corresponding to each of the two fractured test pieces in the tensile tester , and the position of the grips is adjustable.
Use the obtained setting device. And setting
Supply by moving the hand part of the device to the position of the test piece supply means
Hold the test piece of the test piece supply means with a hand for
Move the cable to the position of the tensile tester and test it with the supply hand.
While holding the test piece, adjust the position of the gripping part of the recovery hand based on the position information of the crosshead of the tensile tester, and the broken test piece of the tensile tester with the adjusted gripping part. Grasp and remove the
With the recovery hand in the position of the tensile tester.
While holding the specimen, disconnect the collection hand and the supply hand.
Replace it and pull the test piece held by the supply hand.
Supply to the test machine, move the hand part to the position of the collection part and collect
Collect the test piece held by the manual hand in the collecting part.

Further , in the automatic tensile test apparatus of the present invention
A setting device for the test strip supply / recovery device
Is the tip of the test piece supply means, tensile tester and recovery section
Mounted on the tip of the arm that can be moved to the position
And a hand part that is eclipsed,
Dedicated for gripping the test piece supplied by the test piece supply means
Supply hand and two broken in tensile tester
Pair of adjustable grips for each of the test pieces
It consists of a collection hand dedicated to collection.
In addition, the control device includes the arm of the setting device and the hand
The position of the grip part of the hand part is controlled. That
The hand of the setting device by controlling the control device.
Part to the position of the test piece supply means and test with the supply hand.
Hold the test piece of the test piece supply means and pull the hand part with a tensile tester.
Position and hold the test piece with the supply hand.
Based on the position information of the crosshead of the tensile tester
Adjust the position of the gripping part of the collection hand, and adjust this position.
Each of the broken test pieces of the tensile tester
Gripped and removed, then place the hand on the position of the tensile tester.
While holding the test piece with the collection hand,
Switch between the collection hand and the supply hand to supply
The test piece gripped by the band is supplied to the tensile tester. So
Then, move the hand part to the position of the collection part and collect it.
Collect the test piece that is being held by the hand in the recovery unit.

Therefore, in the automatic tensile test apparatus of the present invention,
Depending on the method of supplying and recovering the test piece in
For example, the pair of grips of the setting device should be installed in the tensile tester.
Corresponding to each of the two broken test pieces,
The position of the broken test piece is the crosshead of the tensile tester
Since it corresponds to the
Breaks into two by a pair of grips whose position is adjusted based on
It is possible to accurately grip the test pieces at the same time.
Also, stop the crosshead at the final distortion position.
Therefore, it is possible to eliminate the dead time until the start of the next test.
Wear.

[0018] The tensile Since the position of the tester can be performed by continuing supply of the removal and specimens of the specimen, in the operation of the setting device, in particular, the operation of moving the hand portion from the tensile tester to the recovery unit Since the operation of moving the hand part from the collecting part to the test piece supply means and the operation of moving the hand part from the test piece supply means to the tensile test machine can be performed in parallel with the operation of the tensile test machine, It is possible to eliminate dead time.

[0019]

EXAMPLE FIG. 4 is a plan view showing the structure of the essential part of an automatic tensile tester of an example to which the present invention is applied. In addition, in the following description, a test piece in which only elongation occurs without breaking in a tensile tester is referred to as a “strain test piece”. In FIG. 2, reference numeral 2 supplies the test piece 1 to the tensile tester 4 from the marking portion 3 which is the test piece supply means in the embodiment, and indicates the fragment or strain test piece for which the tensile test is completed by the tensile tester 4. It is a setting device for collecting in the collecting part 5. The test piece 1 has the same shape as that described in the conventional example. In addition, the marking unit 3 takes out the uppermost test pieces one by one from the laminated body in which a large number of test pieces are stacked, measures the thickness, draws a marked line, and draws the marked line. Is configured to be supplied to the setting device 2 side.

The system control device 6 controls the setting device 2, the marking part 3 and the tensile tester 4, and automatically supplies and collects the test pieces corresponding to various kinds of test piece sizes. It is composed of.
Prior to the tensile test, for one test lot of test piece 1,
Necessary items such as the shape, the test conditions, the operation of the setting device 2 and the operation of the marking unit 3 are registered in advance, and the tensile test is automatically performed based on these items.

FIG. 5 is a view showing the setting device 2, the marking part 3, the tensile tester 4 and the recovery part 5. The structure of the setting device 2 will be described as an operation with respect to the xyz axes shown in the figure in the state shown in FIG.
The setting device 2 includes a base 2a, a swivel portion 2b provided on the base 2a and rotatable about an axis parallel to the z-axis, and an axis 2c provided above the swivel portion 2b and parallel to the x-axis. , The upper arm portion 2d rotatably attached to the shaft 2c, and the shaft 2
A shaft 2e provided at the tip of the upper arm 2d in parallel with c, a forearm 2f rotatably attached to the shaft 2e, and a shaft 2g provided at the tip of the forearm 2f in parallel with the shaft 2e. ,
Rotating block 2 rotatably attached to this shaft 2g
h, and a hand portion 21 attached to the rotation block 2h and rotatable about an axis orthogonal to the axis 2g and parallel to the y-axis.

The base 2a and the motors and control equipment (not shown) built in each axis and the system control device 6
It operates according to the instructions. With the above configuration, the setting device 2 can hold the test piece 1 with the hand portion 21 and hold the test piece 1 at any position around the base 2a and in any posture.

In the tensile tester 4, a gate-shaped frame 4b is erected on a base 4a, and the base 4a is provided in the middle of the frame 4b.
A crosshead 4c parallel to the
And chucks 4d, 4d facing the cross head 4c, and load detecting means 4e on the opposite side of the cross head 4c from the chuck 4d. A movable gripping piece 4d 'is attached to the inside of the chucks 4d, 4d. When the test piece 1 is supplied by the setting device 2 so as to coincide with the central axis of the chuck 4d, the movable gripping piece 4d' is provided. Then, the enlarged portion 1b of the test piece 1 is gripped.

The end portion of the crosshead 4c is screwed into a ball screw 4f arranged in the frame 4b. Also,
The ball screw 4f is connected to the drive device 4g, and
An encoder 4h connected to the system controller 6 is attached to the end of the ball screw 4f. Then, the cross head 4c is moved up and down by the drive of the driving device 4g, the position of the cross head 4c is detected by the encoder 4h, and the position information is sent to the system control device 6.

FIG. 1 shows the hand portion 21 of the setting device 2.
FIG. 3 is a side view of a partially crushed portion of the hand unit 21 for supplying the test piece 1 to the tensile tester 4 and a recovery hand for recovering a fragment or a strain test piece from the tensile tester 4. And a hand 212. Supply hand 21
1 is provided with a pair of gripping pieces 211a and 211b at the tip thereof, and these gripping pieces 211a and 211b are cylinder 21
A gripping operation is performed by 1c as indicated by an arrow in the figure.

Further, the recovery hand 212 is provided with a pair of grips 212a and 212b whose intervals can be adjusted. One gripping part 212a is fixed to the frame 212c, while the other gripping part 212b moves to the solid line state (I) in the figure or the two-dot chain line state (II) in the figure by driving the cylinder 212d. Further, the grips 212a, 212
b is a pair of gripping pieces 212a-1 and 212a at the tips, respectively.
a-2, 212b-1 and 212b-2 are provided, and the gripping pieces 212a-1 and 212a-2 of the gripping portion 212a perform a gripping operation by the cylinder 212a-3 in the direction orthogonal to the drawing, and the gripping portion 212b Grasping pieces 212b-1, 21
2b-2 performs a gripping operation in a direction orthogonal to the drawing by the cylinder 212b-3.

The cylinder 21 of the supply hand 211
1c, each cylinder 212d, 21 of the recovery hand 212
2a-3 and 212b-3 are connected to air pipes (not shown), and these cylinders are connected to the system controller 6
Driven by the air supplied under the control of 1., each gripping operation of the supplying hand 211 and the collecting hand 212 and the moving operation (state I or state II) of the gripping part 212b are performed.

The hand portion 21 of the setting device 2 is constructed as described above, and the setting device 2 grips the test piece 1 of the marking portion 3 with the supply hand 211 and supplies it to the tensile tester 4. Also, the setting device 2
At times other than the tensile rupture test, the spacing between the gripping portions 212a and 212b of the recovery hand 212 is set to the state of I in FIG. 1, and the gripping portions 212a and 212b grip the strain test piece (non-broken test piece). . On the other hand, in the tensile rupture test, the distance between the grips 212a and 212b is set to the state II in FIG.
The fixed side gripping part 212a grips the broken piece set on the chuck 4d on the base 4a side of the tensile test 4, and the other gripping part 212b sets the broken piece on the chuck 4d on the crosshead 4c side. To hold.

The gripping parts 212a, 2 in this state II
The interval of 12b is set corresponding to the interval of the fracture fragments generated in the tensile breaking test, and in this tensile breaking test, the position (height) of the recovery hand 212 with respect to the tensile testing machine 4 is set.
Is adjusted based on the positional information of the crosshead 4c of the tensile tester 4, and the gripper 212a removes the lower fragment from the gripper 21c.
Allow 2b to grip each of the fragments above.

FIG. 2 is a view for explaining the recovery position of the recovery hand 212 with respect to the chuck 4d of the tensile tester 4,
Except for the tensile rupture test, the gripping part 2 as shown in Fig. 2 (a)
With the spacing 12a, 212b set to I, the recovery hand 212 is set at a predetermined position to grip the strain test piece 1 ', and the chuck 4d is loosened to receive the strain test piece 1'from the tensile tester 4.

In the tensile rupture test, as shown in FIGS. 2 (b) to 2 (d), the gaps between the gripping portions 212a and 212b are set to the state of II to widen the gaps, and (b), (c), ( When the height of the chuck 4d-2 fixed to the crosshead 4c changes according to the elongation of the test piece 1 and the position at the time of breakage as shown in d), the recovery hand 212 based on the position information of the crosshead 4c.
The height of the grip is adjusted so that the grip portion 212a causes the broken piece 1 ''
So that the gripping portion 212b can grip each of the upper fragments 1 ″. Then, the chuck 4d is loosened to receive the fractured piece 1 ″ from the tensile tester 4.

In the height control of the recovery hand 212 during the tensile rupture test, the height of the crosshead 4c is divided in advance into a predetermined range such as 5 steps, and the recovery hand 212 corresponding to each step is divided. Set the height,
The height of the collecting hand 212 is selected according to the height of the crosshead 4c.

FIG. 3 is a diagram for explaining the operation of the setting device 2. When the test piece 1 on which marking lines have been drawn by the marking part 3 is released, the test piece 1 is set by the setting device 2.
As shown in FIG. 3 (a), the setting device 2 extends the upper arm 2d and the forearm 2f based on the instruction from the system controller 6, and the test piece is fed by the supply hand 211. The center part is grasped according to the shape of 1.

Next, when the test piece 1 is gripped, the setting device 2 lifts the test piece 1 upward so that the grip 212b of the recovery hand 212 is gripped upward, as shown in FIG. 3 (b). 212a is rotated so that it is on the lower side, the upper part is rotated 90 ° around the z-axis from the revolving part 2b, the upper arm part 2d and the forearm part 2f are extended, and the chuck 212g from the chuck of the tensile tester 4 is grasped. The upper and lower fragments are grasped and removed by 212a.

Then, as shown in FIG. 3 (c), while the broken pieces are held by the holding parts 212b and 212a, the test piece 1 held by the supply hand 211 is rotated so as to be vertical, The test piece 1 is supplied according to the direction of the chuck of the tensile tester 4. When the supply of the test piece 1 is completed, FIG.
As shown in (d), the upper part of the swivel part 2b is further rotated about the z-axis by 90 °, and the broken pieces gripped by the grip parts 212b and 212a are put into the recovery part 5, respectively.

As described above, the supply of one test piece and the collection of the broken pieces after the test are completed. Then, while the tensile tester 4 is performing the test, the setting device 2 moves the turning part 2
It is further rotated by 180 ° around the z-axis above b, returns to the position facing the marking portion 3, and stands by for supplying the next test piece 1. By repeating the same operation as described above for the next test piece, the test is continuously performed until the test piece 1 is no longer supplied from the marking portion 3.

As described above, the recovery hand 212 of the setting device 2 is provided with the pair of grips 212a and 212b, and the system controller 6 receives the position data of the crosshead 4c from the tensile tester 4 and receives it. Accordingly, the position of the recovery hand 212 is adjusted, and the two broken fragments of the test piece 1 are simultaneously gripped and collected by the gripping portions 212a and 212b. Therefore, the crosshead 4c should be stopped at the position at the end of the test. The cross head 4c need not always be moved to the position where the elongation is greatest, and the cycle time can be shortened.

Further, since the setting device 2 is provided with the supplying hand 211, the collecting hand 212 and the two hands, the supplying operation and the collecting operation of the test piece 1 with respect to the tensile testing machine 4 are carried out once. Since the recovery operation and the return operation to the initial position can be performed while the tensile tester 4 is performing the test, the loss of the operation time can be eliminated and the cycle time can be shortened. You can

[0039]

Supply and recovery method of the test piece in an automatic tensile testing apparatus of the present invention as described above, according to the present invention or supply and recovery instrumentation
According to location, pulling a setting device for collecting the broken specimens in tester, the position of the grip portion provided with a pair of gripping portions corresponding to each of the two test pieces are broken in a tensile testing machine The adjustable setting device is used to adjust the position of the gripping part of the setting device based on the position information of the crosshead of the tensile tester, and the broken test piece of the tensile tester is adjusted by this adjusted gripping part. Since the specimens are respectively gripped and collected in the collecting part, the two fractured test pieces can be accurately gripped at the same time, and moreover, the crosshead can be stopped at the position of the final strain. It is possible to eliminate a dead time until the start of the next test, reduce the operation in the tensile tester, and shorten the cycle time in the automatic tensile tester. Also, remove the test piece at the position of the tensile tester.
Since it is possible to continuously supply the shitoto test piece,
Automatic tensile tester with reduced supply and recovery of pieces
The cycle time can be shortened.

[0040]

[Brief description of drawings]

FIG. 1 is a partially crushed side view of a hand portion of a setting device in an automatic tensile test device to which the present invention is applied.

FIG. 2 is a diagram illustrating a recovery position of a recovery hand with respect to a chuck of a tensile tester in an example.

FIG. 3 is a diagram illustrating the operation of the setting device according to the embodiment.

FIG. 4 is a diagram illustrating a setting device, a marking unit, a tensile tester, and a recovery unit in an example.

FIG. 5 is a diagram showing a setting device, a marking unit, a tensile tester, and a recovery unit in an example.

FIG. 6 is a perspective view showing a configuration of a conventional automatic tensile test device.

FIG. 7 is a perspective view showing a state in which a chuck in a conventional automatic tensile test apparatus grips a test piece.

[Explanation of symbols]

1 test piece 1'strain test piece 1 ″ fragment 2 Setting device 4 tensile tester 5 Collection Department 4c crosshead 21 Hand part 211 Supply hand 212 Collection Hand

Continuation of the front page (56) Reference JP-A-3-160641 (JP, A) JP-A-7-55670 (JP, A) Actual development Sho 51-12290 (JP, U) (58) Fields investigated (Int .Cl. ⁷ , DB name) G01N 3/00-3/62 JISST file (JOIS)

Claims (2)

(57) [Claims] 1. A test piece supply means supplies the test piece to a tensile tester for pulling the test piece with a crosshead to perform a tensile test.
It supplies the test piece setting device, the setting device a test piece which has been broken by the tensile tester
Of the test pieces in the automatic tensile tester
A method of supplying and collecting, wherein the setting device is used by the test piece supplying means.
A supply hand dedicated to supply, which holds the supplied test piece,
The hand unit comprising a collecting hand collection dedicated to allow adjust the position of the grip portion has a pair of gripping portions corresponding to each of the broken two specimens in the tensile testing machine
Using the setting device provided, supply the test piece to the hand part of the setting device
Move to the position of the means and supply the test piece with the supply hand
Hold the test piece of the means , move the hand part to the position of the tensile tester , and
While holding the test piece with the feeding hand, the recovery handle is based on the position information of the crosshead of the tensile tester.
State in which the position of the grip portion of the band is adjusted, the broken test pieces of the tensile tester are respectively gripped and removed by the grip portion whose position is adjusted, and the hand portion is set to the position of the tensile tester. Then, the collection
While holding the test piece with the collecting hand,
Switch between the supply hand and grip with the supply hand.
Is supplied to the tensile tester, and the hand part is moved to the position of the recovery part for recovery.
Supply and recovery method of the test piece in an automatic tensile testing machine test pieces are gripped by the hand, characterized in that so as to recover to the recovery section. 2. A tensile test is performed by pulling a test piece with a crosshead.
It is supplied to the tensile tester to be tested by the test piece supply means.
Of the test piece in the automatic tensile test device for supplying the prepared test piece with the setting device and collecting the test piece broken by the tensile tester in the collecting part with the setting device.
A supply / recovery device , the tip of which is the test piece supply means, the tensile tester, and
The arm that can move to the position of the receiving part and the tip of the arm.
And a hand part attached to the hand part.
Grips the test piece supplied by the test piece supply means.
Dedicated supply hand and breakage in the tensile tester
A pair of position adjustments corresponding to each of the two broken test pieces
A setting device configured with the recovery hand collection dedicated consisting capable gripping portion, the arm of the setting device, and the hand portion,
A control device for controlling the position of the grip portion of the hand portion;
Wherein the control unit, the hand section gripping the test piece of the test piece feeding means in the front Symbol supply hand moves to the position of the test strip supply means of the setting device, the said hand portion Move to the position of the tensile tester and test with the above-mentioned hand for supply.
While holding the specimen, place it on the cloth of the tensile tester.
Based on the position information of the lid,
The position is adjusted, the broken test pieces of the tensile tester are respectively gripped and removed by the gripping part whose position is adjusted , and the hand part is set to the position of the tensile tester.
The recovery hand while holding the test piece with the recovery hand
The switching between supply hand and the test piece are gripped by the feed hand fed into the tensile tester, before moving the Han <br/> de unit to the position of the collecting portion SL Control so that the test piece gripped by the collection hand is collected in the collection part .
That specimens in an automatic tensile testing machine, characterized in
Supply and recovery device .