A multi-specification steel bar precise picking device

Abstract

The present invention provides a precise picking device for multi-specification steel bars, comprising: a mobile storage bin and a picking and conveying mechanism. The mobile storage bin includes multiple bins, and each bin stores steel bars of the same specification. The picking and conveying mechanism includes: a frame; a picking mechanism for picking steel bars of a target specification from the mobile storage bin; a material receiving mechanism for caching the steel bars picked by the picking mechanism, with one end of the material receiving mechanism being the clamping position; a flattening mechanism for reciprocally flattening the stacked steel bars on the material receiving mechanism into a single-layer arrangement; a positioning mechanism for pushing the flattened steel bars in a direction perpendicular to the axial direction of the steel bars towards the clamping position, so that the steel bars are sequentially and closely arranged from the clamping position; a clamping mechanism for clamping the steel bars located at the clamping position on the material receiving mechanism; and a rolling and conveying mechanism for conveying the steel bars clamped by the clamping mechanism to a processing device. The present invention can achieve the seamless switching between picking and processing of steel bars of different specifications and realize the precise picking of multi-specification steel bars.

Description

Technical Field

[0001] The present invention relates to the technical field of steel bar processing, and particularly to a precise picking device for steel bars of multiple specifications. Background Art

[0002] Steel bar raw materials are generally in whole bundles, with specifications of Φ12 - 40mm and lengths of 6 - 12m. During actual use, the steel bars need to be picked up according to requirements and sent to a cutting device to be cut into the required lengths. When picking up steel bars, the steel bars are first placed in a raw material bin. Currently, there are three ways to pick up steel bars:

[0003] First: The traditional manual picking and feeding method. Operators sort the steel bars according to specifications, and then send the steel bars into the cutting device according to requirements and process the steel bars. This method has low processing efficiency, high cost, and high labor intensity, and requires 1 - 2 people to complete.

[0004] Second: Most existing steel bar picking mechanisms or devices adopt a horizontal single-bar picking mode. When steel bars need to be processed, steel bars of the same specification are first placed on a bin. There is a certain height difference between the bin and the processing device. The feeding mechanism will slide the steel bars one by one from the bin to the rolling mechanism of the processing device, and the rolling mechanism will send the steel bars to the processing device. Reference can be made to the Chinese invention patent with the application number 201720577393.1 and the invention name "Steel bar feeding device of a steel bar bender". This method has a relatively high feeding efficiency, but the specifications of the processed steel bars cannot be switched at any time. Only after processing all the steel bars of the same specification can other specifications of steel bars be switched, that is, the processing of different specifications of steel bars needs to be carried out sequentially and in batches.

[0005] Third: There are also some existing devices for processing steel bars of different specifications in the prior art, and the processing of different specifications of steel bars can be switched at any time. As Figure 1 shown, during one production, when picking up the steel bar 3', a magnet 2' is needed to lift the steel bar to a certain height, and a clamping jaw 1' is used to clamp or magnetically absorb a steel bar from the side and send it into the device. When picking up the second steel bar, the electromagnet needs to re-absorb the steel bar from the bin and repeat the above actions. Reference can be made to the Chinese invention patent with the application number 201210517918.4 and the invention name "Automatic lifting steel bar feeding device and process in a steel bar processing production line". In this patent, [[ID=2)) Figure 1 the clamping jaw 1' is set as a discharging mechanism. The advantage of this picking method is that the specifications of the steel bars can be switched at any time, but when steel bars of the same specification need to be processed in batches, the comprehensive working efficiency of this method is relatively low.

[0006] In actual production, the specifications and quantities of steel bars to be processed are uncertain. It is necessary to be able to switch between processing different specifications of steel bars at any time and to efficiently process steel bars of the same specification. Therefore, it is necessary to improve the existing steel bar picking device to solve the above problems. Summary of the Invention

[0007] Aiming at the defects in the prior art, the purpose of the present invention is to provide a precise picking device for steel bars of multiple specifications.

[0008] According to one aspect of the present invention, a precise picking device for steel bars of multiple specifications is provided, including a movable bin and a picking and conveying mechanism. The movable bin includes a plurality of bins, and each bin contains steel bars of the same specification. The picking and conveying mechanism includes:

[0009] A frame, which provides support for the picking and conveying mechanism;

[0010] A picking mechanism, fixed on the top of the frame, which is used to pick steel bars of the target specification from the movable bin;

[0011] A receiving mechanism, located below the picking mechanism, which is used to cache the steel bars picked by the picking mechanism. One end of the receiving mechanism is the clamping position;

[0012] A flattening mechanism, located on one side of the receiving mechanism, which reciprocally flattens the stacked steel bars on the receiving mechanism into a single-layer arrangement;

[0013] A positioning mechanism, located on one side of the receiving mechanism and away from the clamping position, which pushes the flattened steel bars in the direction perpendicular to the axial direction of the steel bars towards the clamping position, so that the steel bars are tightly arranged in sequence from the clamping position;

[0014] A clamping mechanism, fixed on the frame and located above the receiving mechanism, which clamps the steel bars at the clamping position on the receiving mechanism;

[0015] A rolling and conveying mechanism, fixed on the frame, which is used to convey the steel bars clamped by the clamping mechanism to the processing equipment.

[0016] Optionally, the movable bin further includes:

[0017] A support frame, arranged below the plurality of bins, which is used to support the plurality of bins;

[0018] Bin guide rails, fixed on the support frame and located at the bottom of the movable bin, which are arranged along the length direction perpendicular to the bins;

[0019] The driving device is arranged at the bottom of the movable bin, and the driving device drives the bin to move along the bin guide rail.

[0020] Optionally, the picking mechanism includes:

[0021] The first cylinder fixing plate is fixed on the frame;

[0022] The first cylinder is fixed on the first cylinder fixing plate, and the first cylinder rod of the first cylinder extends downward;

[0023] The limiting rod, its lower end passes through the first cylinder fixing plate, the upper end is connected with a connecting plate, the connecting plate is fixed on the frame, and a limiting ring is arranged on the limiting rod, and the limiting ring is used to adjust the stroke of the first cylinder;

[0024] The second buffer pad is sleeved on the limiting rod, and the second buffer pad is close to the upper surface of the first cylinder fixing plate;

[0025] The guide rod fixing plate is connected to the end of the first cylinder rod, and the lower end of the limiting rod is fixed on the guide rod fixing plate;

[0026] The guide rod, its upper end is connected with the guide rod fixing plate, and the guide rod fixing plate can slide along the guide rod;

[0027] The electromagnet is arranged at the lower end of the guide rod, and the electromagnet is used to suck the steel bars.

[0028] Optionally, the lower end of the guide rod is connected with an electromagnet support plate, the electromagnet is connected with the electromagnet support plate through a hinge seat, the hinge seat includes a rotation axis in the x direction and a rotation axis in the y direction, and the hinge seat has rotational freedom in the x direction and the y direction.

[0029] Optionally, the material receiving mechanism includes:

[0030] The material receiving rod, the clamping position is located at one end of the material receiving rod, and the steel bar is placed perpendicular to the axial direction of the material receiving rod;

[0031] [[ID=3B]]The second cylinder is fixed on the frame, the end of the second cylinder rod of the second cylinder is connected with the middle part of the material receiving rod, and the telescopic direction of the second cylinder rod is perpendicular to the axial direction of the material receiving rod;

[0032] The rollers are sleeved on both ends of the material receiving rod.

[0033] Optionally, the leveling mechanism includes:

[0034] The bracket is fixed on the frame;

[0035] The guide rail is fixed on the bracket, and the guide rail is arranged along the height direction of the flattening mechanism;

[0036] The movable plate, one side of the movable plate is fixed on the slider of the guide rail;

[0037] The first servo motor - reducer combination and the second servo motor - reducer combination are both fixed on the movable plate, and the first servo motor - reducer combination is located below the second servo motor - reducer combination;

[0038] The first gear, the first gear is connected to the output shaft of the second servo motor - reducer combination;

[0039] The second gear, the second gear is connected to the output shaft of the first servo motor - reducer combination;

[0040] The first rack, arranged along the height direction of the flattening mechanism, the first rack is fixed on the bracket and cooperates with the first gear;

[0041] The third guide rail is arranged on the other side of the movable plate, the third guide rail is perpendicular to the guide rail, and a rack mounting plate is provided on the slider of the third guide rail;

[0042] The second rack is fixed on the rack mounting plate, the second rack is perpendicular to the first rack, and the second rack cooperates with the second gear;

[0043] The third cylinder is fixed on the rack mounting plate, and the third cylinder has a third cylinder rod that expands and contracts along the height direction of the flattening mechanism;

[0044] The flattening plate is installed at the end of the third cylinder rod.

[0045] Optionally, a positioning column is provided at the end of the receiving rod near the clamping position, and the positioning column is used to position the steel bar located at the clamping position; the positioning mechanism includes:

[0046] The fixed seat is fixed on the frame;

[0047] The fourth cylinder is fixed on the fixed seat, the fourth cylinder is located above the fixed seat, and the fourth cylinder has a fourth cylinder rod that expands and contracts along the axial direction perpendicular to the steel bar;

[0048] The sixth guide rail is arranged on the lower surface of the fixed seat, and the length direction of the sixth guide rail is the same as the expansion and contraction direction of the fourth cylinder rod;

[0049] The positioning push plate has one end fixed to the slider of the sixth guide rail and the other end fixed to the end of the fourth cylinder rod; the positioning push plate pushes the flattened steel bars towards the clamping position to squeeze the positioning posts.

[0050] Optionally, the rolling and conveying mechanism includes:

[0051] A motor-reducer combination, installed on the frame;

[0052] A sprocket, connected to the output shaft of the motor-reducer combination;

[0053] A driving conveying wheel, connected to the sprocket through a chain;

[0054] Two groups of first guide wheels are respectively arranged at both ends of the steel bar moving direction on the rolling mechanism. Each group of first guide wheels includes two first guide wheels respectively located on both sides of the driving conveying wheel; a space for placing the steel bar is formed between the two first guide wheels in each group, and it plays a guiding role in the steel bar conveying.

[0055] A conveying channel, and the driving conveying wheel rotates to guide the steel bar into the conveying channel.

[0056] Optionally, the picking and conveying mechanism further includes a pressing mechanism, which is located above the rolling mechanism. The pressing mechanism includes:

[0057] A fifth cylinder, installed on the frame, and the fifth cylinder has a fifth cylinder rod extending downward;

[0058] A roller support, provided at the end of the fifth cylinder rod;

[0059] A second guide rail, provided on the frame, and the second guide rail is arranged along the height direction of the frame. The roller support moves along the second guide rail driven by the fifth cylinder;

[0060] A driven rolling wheel, provided in the roller support. After the roller support descends, the driven rolling wheel presses the steel bar and cooperates with the driving conveying wheel to clamp and convey the steel bar;

[0061] A second guide wheel, provided in the roller support, and the second guide wheel plays a guiding role in the longitudinal conveying of the steel bar.

[0062] Optionally, the picking and conveying mechanism further includes a material blocking mechanism provided above the material receiving mechanism. The material blocking mechanism includes:

[0063] A sixth cylinder, fixed to the frame, and the sixth cylinder has a sixth cylinder rod extending downward;

[0064] The baffle is connected to the end of the sixth cylinder rod, and the baffle blocks the end of the steel bar that has not been clamped on the material receiving mechanism.

[0065] Compared with the prior art, the present invention has at least one of the following beneficial effects:

[0066] 1. The multi-specification steel bar precise picking device provided by the present invention. The movable bin includes multiple bins for placing steel bar raw materials of different specifications. When it is necessary to switch different specification steel bars during the process of processing steel bars, the remaining steel bars on the material receiving mechanism fall into the bins corresponding to the original specification steel bars. Move the movable bin to move the bin corresponding to the target specification steel bar under the picking mechanism for picking, so as to realize the instant switching of picking and processing different specification steel bars.

[0067] 2. The multi-specification steel bar precise picking device provided by the present invention can, through the mutual cooperation of the movable bin, the material receiving mechanism, the flattening mechanism, the positioning mechanism, the clamping mechanism, the rolling and conveying mechanism, etc., realize the batch and efficient processing of steel bars of the same specification and the precise picking of multi-specification steel bars. BRIEF DESCRIPTION OF THE DRAWINGS

[0068] By reading the detailed description of the non-limiting embodiments with reference to the following drawings, other features, purposes and advantages of the present invention will become more obvious:

[0069] Figure 1 It is a schematic structural diagram of the automatic feeding device in the background technology. In the figure, 1' is the jaw, 2' is the magnet, and 3' is the steel bar;

[0070] Figure 2 It is a schematic structural diagram of the multi-specification steel bar precise picking device in an embodiment of the present invention;

[0071] Figure 3 It is a schematic structural diagram of the picking and conveying mechanism in an embodiment of the present invention;

[0072] Figure 4 It is a schematic structural diagram of the movable bin in an embodiment of the present invention;

[0073] Figure 5 It is a schematic structural diagram of the movable bin in an embodiment of the present invention;

[0074] Figure 6 It is a schematic structural diagram of the picking mechanism in an embodiment of the present invention;

[0075] Figure 7 It is a schematic structural diagram of the hinge seat in an embodiment of the present invention;

[0076] Figure 8 It is a schematic structural diagram of the material receiving mechanism in an embodiment of the present invention;

[0077] Figure 9 Structural schematic diagram of the leveling mechanism in an embodiment of the present invention;

[0078] Figure 10 Structural schematic diagram of the positioning mechanism in an embodiment of the present invention;

[0079] Figure 11 Structural schematic diagram of the clamping mechanism in an embodiment of the present invention;

[0080] Figure 12 Structural schematic diagram of the rolling and conveying mechanism in an embodiment of the present invention;

[0081] Figure 13 Structural schematic diagram of the pressing mechanism in an embodiment of the present invention;

[0082] Figure 14 Schematic diagram of the layout position of the material blocking mechanism in an embodiment of the present invention;

[0083] Figure 15 Structural schematic diagram of the material blocking mechanism in an embodiment of the present invention;

[0084] Figure 16 Schematic diagram of the process of picking up steel bars in an embodiment of the present invention;

[0085] In the figure: 100 - moving bin, 101 - bin position, 102 - driving device, 103 - bin guide rail; 200 - picking and conveying mechanism; 300 - steel bar;

[0086] 201 - positioning mechanism, 20101 - positioning push plate, 20102 - fourth cylinder fixing plate, 20103 - fourth cylinder, 20104 - fixing seat, 20105 - sixth guide rail;

[0087] 202 - leveling mechanism, 20201 - first servo motor - reducer combination, 20202 - second servo motor - reducer combination, 20203 - bracket, 20204 - first gear, 20205 - first rack, 20206 - fourth guide rail, 20207 - fifth guide rail, 20208 - movable plate, 20209 - third guide rail, 20210 - rack mounting plate, 20211 - third cylinder, 20212 - leveling plate, 20213 - second gear, 20214 - second rack;

[0088] 203 - clamping mechanism, 20301 - linear module, 20302 - electric cylinder, 20303 - electric cylinder connecting plate, 20304 - electric cylinder backing plate, 20305 - electric cylinder overhead pull chain, 20306 - first buffer pad, 20307 - jaw assembly;

[0089] 204 - Pickup mechanism, 20401 - Connecting plate, 20402 - Limiting ring, 20403 - First cylinder, 20404 - Second buffer pad, 20405 - Linear bearing, 20406 - Side - pull cylinder floating joint, 20407 - Side - pull cylinder, 20408 - First cylinder floating joint, 20409 - Guide rod fixing plate, 20410 - Guide rod, 20411 - Electromagnet support plate, 20412 - Hinge seat, 20413 - Electromagnet, 20414 - First cylinder fixing plate, 20415 - Limiting rod;

[0090] 205 - Pressing - down mechanism, 20501 - Fifth cylinder, 20502 - Roller support, 20503 - Pin shaft, 20504 - Limiting plate, 20505 - Second guide wheel, 20506 - Driven roller;

[0091] 206 - First guide rail;

[0092] 207 - Second guide rail;

[0093] 208 - Rolling - conveying mechanism, 20801 - Motor - reducer combination, 20802 - Chain, 20803 - Sprocket, 20804 - First guide wheel, 20805 - Active conveying wheel, 20806 - Conveying channel, 20807 - Rolling wheel;

[0094] 209 - Material - receiving mechanism, 20901 - Positioning column, 20902 - Material - receiving rod, 20903 - Second cylinder fixing plate, 20904 - Second cylinder, 20905 - Roller;

[0095] 210 - Material - blocking mechanism, 21001 - Baffle, 21002 - Sixth cylinder;

[0096] 211 - Frame. Detailed implementation mode

[0097] The present invention will be described in detail below with reference to specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can still be made. These all belong to the protection scope of the present invention.

[0098] It should be noted that the terms "first", "second", etc. are only used for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first", "second", etc. may explicitly or implicitly include one or more of such features. Moreover, the terms "first", "second", etc. are used to distinguish similar objects and do not necessarily have to be used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein.

[0099] In addition, the term "steel bar" refers to the raw material of the steel bar, that is, the steel bar to be processed.

[0100] Referring to Figures 2 - 4 , an embodiment of the present invention provides a multi-specification steel bar precise picking device, which includes a moving bin 100 and a picking and conveying mechanism 200. The moving bin 100 includes a plurality of bins 101, and each bin 101 contains steel bars 300 of the same specification; the picking and conveying mechanism 200 includes a frame 211, a picking mechanism 204, a receiving mechanism 209, a flattening mechanism 202, a positioning mechanism 201, a clamping mechanism 203 and a rolling and conveying mechanism 208, wherein: the frame 211 provides support for the picking and conveying mechanism 200; the picking mechanism 204 is fixed on the top of the frame 211, and the picking mechanism 204 is used to pick the steel bars 300 of the target specification from the moving bin 100; the receiving mechanism 209 is located below the picking mechanism 204, and the receiving mechanism 209 is used to cache the steel bars 300 picked by the picking mechanism 204, and one end of the receiving mechanism 209 is the clamping position; the flattening mechanism 202 is located on one side of the receiving mechanism 209, and the flattening mechanism 202 reciprocally flattens the stacked steel bars 300 on the receiving mechanism 209 into a single-layer arrangement; the positioning mechanism 201 is located on one side of the receiving mechanism 209 and away from the clamping position, and the positioning mechanism 201 pushes the flattened steel bars 300 in the direction perpendicular to the axial direction of the steel bars towards the clamping position, so that the steel bars 300 are sequentially and closely arranged from the clamping position; the clamping mechanism 203 is fixed on the frame 211 and is located above the receiving mechanism 209, and the clamping mechanism 203 clamps the steel bars 300 at the clamping position on the receiving mechanism 209; the rolling and conveying mechanism 208 is fixed on the frame 211, and the rolling and conveying mechanism 208 is used to convey the steel bars 300 clamped by the clamping mechanism 203 to the processing equipment.

[0101] In an embodiment of the present invention, the movable bin 100 includes a plurality of bins 101 for placing steel bar raw materials of different specifications. When it is necessary to switch different specifications of steel bars during the process of processing steel bars, the remaining steel bars 300 on the material receiving mechanism 209 fall into the bin 101 corresponding to the original specification of steel bars. The movable bin 100 is moved to move the bin 101 corresponding to the target specification of steel bars under the picking mechanism 204 for picking, so as to realize the instant switching of picking and processing different specifications of steel bars. Through the mutual cooperation of the movable bin 100, the material receiving mechanism 209, the flattening mechanism 202, the positioning mechanism 201, the clamping mechanism 203, the rolling mechanism 208, etc., it is possible to realize the batch and efficient processing of steel bars of the same specification and the accurate picking of steel bars of multiple specifications.

[0102] The specifications of steel bars are generally: 6 - 12 meters in length, Ф12 - Ф40mm in diameter. To place different specifications of steel bars to be processed at the same time, the movable bin 100 has a plurality of parallel bins 101, and each bin 101 can place steel bar raw materials of the same specification, such as Figure 4 The movable bin 100 in [reference] includes 6 bins 101, and different bins 101 can place steel bar raw materials of the same or different specifications. Refer to Figure 4 and Figure 5 The movable bin 100 further includes a support frame, a bin guide rail 103 and a driving device 102. The support frame is arranged below the plurality of bins 101, and the support frame is used to support the plurality of bins 101. The support frame is configured to be able to move along a preset track under the drive of a drive mechanism; the bin guide rail 103 is fixed on the support frame and is located at the bottom of the movable bin 100. The bin guide rail 103 is arranged along the length direction perpendicular to the bin 101; the driving device 102 is arranged at the bottom of the movable bin 100, and the driving device 102 drives the bin 101 to move along the bin guide rail 103.

[0103] Refer to Figure 6, the picking mechanism 204 includes a first cylinder fixing plate 20414, a first cylinder 20403, a limiting rod 20415, a second buffer pad 20404, a guide rod fixing plate 20409, guide rods 20410, an electromagnet 20413, etc. The first cylinder fixing plate 20414 is fixed on the frame 211. Specifically, a first guide rail 206 is provided on the lower surface of the cross beam of the frame 211, and the first cylinder fixing plate 20414 is installed on the first guide rail 206; the first cylinder 20403 is fixed on the first cylinder fixing plate 20414, and the first cylinder rod of the first cylinder 20403 extends downward; the lower end of the limiting rod 20415 passes through the first cylinder fixing plate 20414, and the upper end is connected with a connecting plate 20401. The connecting plate 20401 is fixed on the frame 211. A limiting ring 20402 is provided on the limiting rod 20415, and the limiting ring 20402 is used to adjust the stroke of the first cylinder 20403; the second buffer pad 20404 is sleeved on the limiting rod 20415, and the second buffer pad 20404 is close to the upper surface of the first cylinder fixing plate 20414. A linear bearing 20405 is provided on the first cylinder fixing plate 20414, and the limiting rod 20415 passes through the linear bearing 20405. The linear bearing 20405 guides the movement of the limiting rod 20415, and the second buffer pad 20404 can prevent the limiting ring 20402 from hitting the linear bearing 20405; the guide rod fixing plate 20409 is connected to the end of the first cylinder rod through a first cylinder floating joint 20408. When the first cylinder rod moves downward, it pushes the guide rod fixing plate 20409 to move downward, and the lower end of the limiting rod 20415 is fixed on the guide rod fixing plate 20409; the upper end of the guide rod 20410 is connected to the guide rod fixing plate 20409, and the guide rod fixing plate 20409 can move up and down along the guide rod 20410; to improve the connection reliability and ensure smooth movement, preferably, the number of the limiting rods 20415 and the guide rods 20410 is two each. The two limiting rods 20415 are symmetrically arranged on both sides of the first cylinder 20403, and the two guide rods 20410 are symmetrically arranged on the guide rod fixing plate 20409; the electromagnet 20413 is provided at the lower end of the guide rod 20410, and the electromagnet 20413 is used to suck the steel bar 300.

[0104] In the above embodiments, a side pull cylinder 20407 is provided on the side of the cylinder fixing plate. The side pull cylinder 20407 is fixed to the cylinder fixing plate through a side pull cylinder floating joint 20406, thereby fixing the side pull cylinder 20407 on the frame 211. By pushing the picking mechanism 204 to move along the first guide rail 206 with the side pull cylinder rod of the side pull cylinder 20407, it is possible to avoid interference between the steel bar 300 and the picking mechanism 204 when the clamping mechanism 203 clamps the steel bar 300. When the first cylinder rod of the first cylinder 20403 moves downward, it will drive the limit rod 20415 to move together. When the limit ring 20402 contacts the second buffer pad 20404, the first cylinder rod stops moving. By adjusting the position of the limit ring 20402 on the limit rod 20415, the downward extension stroke of the first cylinder rod can be adjusted, thereby adjusting the initial position of the electromagnet 20413 to the moving bin 100. The guide rod 20410 passes through the guide rod fixing plate 20409 of the guide rod 20410 and the guide rod fixing plate 20409 can slide along the guide rod 20410. When the bin 101 of the moving bin 100 is full of materials, the first cylinder 20403 of the picking mechanism 204 moves downward so that the electromagnet 20413 contacts the topmost steel bar 300. However, at this time, the first cylinder 20403 will not stop and will still continue to push the guide rod fixing plate 20409 downward. At this time, neither the electromagnet 20413 nor the guide rod 20410 will move downward any further, and the guide rod fixing plate 20409 will continue to move downward along the guide rod 20410. When it moves to the position where the limit ring 20402 contacts the second buffer pad 20404, it stops moving. When there is only the last layer of steel bar 300 left in the moving bin 100, the first cylinder 20403 will move until the limit ring 20402 contacts the second buffer pad 20404. At this time, the electromagnet 20413 can still contact the surface of the steel bar 300 and suck the steel bar 300.

[0105] In some embodiments, the lower end of the guide rod 20410 is connected to an electromagnet support plate 20411, and the electromagnet 20413 is connected to the electromagnet support plate 20411 through a hinge seat 20412, as Figure 7 shown. The hinge seat 20412 includes a rotation axis in the x direction and a rotation axis in the y direction. Thus, the hinge seat 20412 has two rotational degrees of freedom in the x direction and the y direction, enabling the electromagnet 20413 to always maintain effective contact with the steel bar 300.

[0106] In the above embodiments, when picking up the steel bar, according to the requirements of the processed steel bar specifications, the moving bin 100 moves to the target position so that the bin 101 corresponding to the target specification steel bar is located below the picking mechanism 204. The positioning method can be, but is not limited to, moving bin servo positioning, suction mechanism vision positioning, etc. In addition to the above-mentioned picking method of electromagnet suction, in some other embodiments, a picking method of clamping with a clamp can also be adopted, and the embodiments of the present invention do not make specific limitations on this.

[0107] Reference Figure 8 The material receiving mechanism 209 includes a material receiving rod 20902, a second cylinder 20904 and a roller 20905. The clamping position is located at one end of the material receiving rod 20902, and the steel bar 300 is placed perpendicular to the axial direction of the material receiving rod 20902; the second cylinder 20904 is fixed to the frame 211 through the second cylinder fixing plate 20903, and the end of the second cylinder rod of the second cylinder 20904 is connected to the middle part of the material receiving rod 20902, and the extension direction of the second cylinder rod is perpendicular to the axial direction of the material receiving rod 20902; the entire material receiving mechanism 209 is fixed to the frame 211 through the second cylinder fixing plate 20903, and the roller 20905 is sleeved on the two ends of the material receiving rod 20902. The roller 20905 can roll or slide on the frame 211, thereby achieving stable and smooth movement of the material receiving rod 20902. It should be noted that by providing sliders or guide sleeves at both ends of the material receiving mechanism 209 , the stable and smooth movement of the material receiving rod 20902 can also be achieved.

[0108] When the picking mechanism 204 picks up the steel bar, the steel bar 300 is sucked up by the electromagnet 20413 of the picking mechanism 204 and lifted to a certain height. At this time, the cylinder rod of the second cylinder 20904 extends to push the receiving rod 20902 to move to the target position. At this time, the electromagnet 20413 is powered off, and the steel bar 300 falls on the receiving rod 20902.

[0109] When switching to a different specification of steel bars during processing, the bin 101 of the target specification steel bars is moved to the bottom of the picking mechanism 204 to pick up the steel bars 300. If there are still multiple steel bars of the current specification on the receiving rod 20902 and it is necessary to replace steel bars of other specifications, the second cylinder 20904 of the receiving mechanism 209 drives the receiving rod 20902 to retract, causing the remaining steel bars 300 to fall into the bin 101 corresponding to the steel bars of the original specification. The mobile bin 100 is moved again, so that the bin 101 corresponding to the target specification steel bars moves to the bottom of the picking mechanism 204 for picking, thereby realizing the switching of picking and processing of steel bars of different specifications at any time.

[0110] In the above embodiment, when the steel bars 300 fall on the receiving rod 20902 and pile up, they need to be flattened by the flattening mechanism 202. Figure 9, the leveling mechanism 202 includes a bracket 20203, guide rails, a movable plate 20208, a first servo motor - reducer combination 20201, a second servo motor - reducer combination 20202, a first gear 20204, a second gear 20213, a first rack 20205, a third guide rail 20209, a second rack 20214, a third cylinder 20211, a leveling plate 20212, etc. The bracket 20203 is fixed on the frame 211; the guide rails are fixed on the bracket 20203 and are arranged along the height direction of the leveling mechanism 202; one side of the movable plate 20208 is fixed on the slider of the guide rail; preferably, to improve the connection stability and movement smoothness of the movable plate 20208, the number of guide rails is two, and the two guide rails are arranged in parallel, such as Figure 9 [[ID=__2]]the fourth guide rail 20206 near the first rack 20205 and the fifth guide rail 20207 at the end of the movable plate 20208 in Figure 9 ; both the first servo motor - reducer combination 20201 and the second servo motor - reducer combination 20202 are fixed on the movable plate 20208, and the first servo motor - reducer combination 20201 is located below the second servo motor - reducer combination 20202; the first gear 20204 is connected to the output shaft of the second servo motor - reducer combination 20202; the second gear 20213 is connected to the output shaft of the first servo motor - reducer combination 20201; the first rack 20205 is arranged along the height direction of the leveling mechanism 202, and the first rack 20205 is fixed on the bracket 20203 and cooperates with the first gear 20204; the third guide rail 20209 is arranged on the other side of the movable plate 20208, the third guide rail 20209 is perpendicular to the guide rail, and a rack mounting plate 20210 is provided on the slider of the third guide rail 20209; the second rack 20214 is fixed on the rack mounting plate 20210, the second rack 20214 is perpendicular to the first rack 20205, and the second rack 20214 cooperates with the second gear 20213; the third cylinder 20211 is fixed on the rack mounting plate 20210, and the third cylinder 20211 has a third cylinder rod that expands and contracts along the height direction of the leveling mechanism 202; the leveling plate 20212 is installed at the end of the third cylinder rod, and the leveling plate 20212 reciprocally levels the stacked steel bars 300 into a single - layer arrangement.

[0111] In some embodiments, the leveling plate 20212 includes a leveling portion and a connecting portion that are perpendicular to each other. The thickness direction of the leveling portion is consistent with the axial direction of the steel bar 300. The leveling portion is provided in the middle on one side of the connecting portion, and the other side of the connecting portion is connected to the end of the third cylinder 20211. Since air is compressible, installing the leveling plate 20212 at the end of the third cylinder rod can serve as a buffer to prevent the servo motor from alarming due to excessive instantaneous resistance during downward leveling.

[0112] In the above embodiments, the thickness direction of the rubbing plate 20212 is consistent with the axial direction of the steel bar; since the steel bar has ribs, if the rubbing plate 20212 is in close contact with the surface of the steel bar, it is easy to cause abrasion when positioning and pushing the steel bar. To prevent the secondary stacking of the rubbed steel bars, after the rubbing plate 20212 rubs the steel bar flat, it maintains a preset distance from the upper surface of the steel bar to prevent the secondary stacking of the steel bars and expose the steel bar on the feeding mechanism 209 at the clamping position. Preferably, the preset distance does not exceed half of the diameter of the steel bar, generally 2-3 mm, so as to effectively prevent the secondary stacking of the steel bars caused by the action of the steel bar positioning mechanism and prevent the second steel bar from moving when the first steel bar is clamped.

[0113] In the above embodiments, through the first servo motor-reducer combination 20201 and the second servo motor-reducer combination 20202, the up, down, left, and right movements of the rubbing plate 20212 are all servo-controlled, so as to meet the use of steel bars of different specifications and sizes.

[0114] Using the above rubbing mechanism, the rubbing action is as follows: After the third cylinder 20211 is ventilated, the third cylinder rod drives the rubbing plate 20212 to extend downward. The second servo motor-reducer combination 20202 drives the first gear 20204 to rotate, so that the components installed on the movable plate 20208 slide downward along the guide rail, so that the rubbing plate 20212 contacts the surface of the steel bar 300 and has a certain pressure. At the same time, the first servo motor-reducer combination 20201 rotates to drive the second gear 20213 to rotate, driving the rack mounting plate 20210 to move the third cylinder 20211 and the rubbing plate 20212 to the designated position. When starting to rub, the servo motor of the first servo motor-reducer combination 20201 rotates forward and backward to drive the rubbing plate 20212 to make a reciprocating motion, so that the stacked steel bars 300 are subjected to a downward pressing force and a reciprocating lateral extrusion force at the same time, and finally the steel bars are arranged in a single layer.

[0115] In the embodiments of the present invention, the rubbing mechanism 202 can adjust the stacked steel bars 300 on the feeding mechanism 209 to a single layer by means of reciprocating left and right rubbing, multiple vertical downward pressing, hammering, etc., which is convenient for the clamping mechanism 203 to clamp. In some other embodiments, a rubbing mechanism that rubs by vibration can also be used.

[0116] Continue to refer to Figure 8 , a positioning column 20901 is provided at the end of the feeding rod 20902 close to the clamping position. The positioning column 20901 is used to position the steel bar 300 at the clamping position. The positioning column 20901 can be fixed to the feeding rod 20902 by means of threaded connection or welding; refer to Figure 10, the positioning mechanism 201 includes a fixed seat 20104, a fourth cylinder 20103, a sixth guide rail 20105, a positioning push plate 20101, etc. The fixed seat 20104 is fixed on the frame 211; the fourth cylinder 20103 is fixed on the fixed seat 20104 through a fourth cylinder fixing plate 20102. The fourth cylinder 20103 is located above the fixed seat 20104. The fourth cylinder 20103 has a fourth cylinder rod that extends and retracts along the axial direction perpendicular to the steel bar 300; the sixth guide rail 20105 is provided on the lower surface of the fixed seat 20104, and the length direction of the sixth guide rail 20105 is the same as the extending and retracting direction of the fourth cylinder rod; one end of the positioning push plate 20101 is fixed to the slider of the sixth guide rail 20105, and the other end is fixed to the end of the fourth cylinder rod; the positioning push plate 20101 pushes the flattened steel bar 300 to the clamping position to the extrusion positioning column 20901.

[0117] In the embodiment of the present invention, the steel bar 300 is pushed to the target clamping position by the positioning mechanism 201. The positioning mechanism 201 cooperates with the flattening mechanism 202, which can effectively prevent the steel bar 300 from being stacked twice during the positioning process.

[0118] Refer to Figure 11 , the clamping mechanism 203 is fixed on the frame 211 through a linear module 20301. The linear module 20301 is arranged along the axial direction perpendicular to the steel bar 300 placed on the feeding mechanism 209. In some embodiments, the clamping mechanism 203 includes an electric cylinder 20302, an electric cylinder connecting plate 20303, an electric cylinder backing plate 20304, an electric cylinder overhead pull chain 20305, a first buffer pad 20306, and a jaw assembly 20307. The electric cylinder 20302 is connected to the linear module 20301 through the electric cylinder connecting plate 20303. The electric cylinder backing plate 20304 is arranged between the electric cylinder 20302 and the electric cylinder connecting plate 20303. The electric cylinder rod of the electric cylinder 20302 extends downward. The jaw assembly 20307 is located at the end of the electric cylinder rod. The electric cylinder overhead pull chain 20305 and the first buffer pad 20306 are arranged on the electric cylinder rod. The clamping of the target steel bar can be realized through the clamping mechanism 203, and the steel bar 300 is placed in the rolling area. Specifically, when the positioning of the steel bar 300 is completed, the jaw assembly 20307 on the clamping mechanism 203 moves to the target position, clamps the steel bar 300 and sends it to the rolling position. Since the positioned steel bars 300 are all close to the positioning column 20901 of the feeding rod 20902, the clamping position is relatively fixed, and the moving distance of the clamping mechanism 203 is the shortest.

[0119] Refer to Figure 12, the rolling and conveying mechanism 208 includes two groups of first guiding wheels 20804, a motor-reducer combination 20801, a sprocket 20803, a driving conveying wheel 20805, a conveying channel 20806, etc. The motor-reducer combination 20801 is installed on the frame 211; the sprocket 20803 is connected to the output shaft of the motor-reducer combination 20801; the driving conveying wheel 20805 is connected to the sprocket 20803 through a chain 20802; the driving conveying wheel 20805 rotates to introduce the steel bar 300 into the conveying channel 20806, and the conveying channel 20806 communicates with the processing equipment. The conveying channel 20806 conveys the steel bar to the processing equipment through the rotation of the rolling wheels 20807. The two groups of first guiding wheels 20804 are respectively arranged at both ends of the moving direction of the steel bar 300 on the rolling mechanism. Each group of first guiding wheels 20804 includes two first guiding wheels 20804 respectively located on both sides of the driving conveying wheel 20805; a space for placing the steel bar 300 clamped by the clamping mechanism 203 is formed between the two first guiding wheels 20804 in each group. The first guiding wheels 20804 limit the movement of the steel bar 300 within a certain area, preventing the steel bar 300 from detaching from the driving conveying wheel 20805 and playing a guiding role in the steel bar conveying.

[0120] In the embodiment of the present invention, after the steel bar 300 is clamped, it is placed between the two first guiding wheels 20804 of the rolling and conveying mechanism 208. The motor-reducer combination 20801 of the rolling and conveying mechanism 208 drives the sprocket 20803, which in turn drives the driving conveying wheel 20805 to send the steel bar 300 into the conveying channel 20806 and into the processing equipment. The first guiding wheels 20804 are set to be rotatable. By adjusting the distance between each group of first guiding wheels 20804, the steel bar 300 can be accurately introduced into the conveying channel 20806. Specifically, the distance between the two first guiding wheels 20804 is less than the width of the driving conveying wheel 20805, and the lower surface of the first guiding wheels 20804 is lower than the surface of the driving conveying wheel 20805, so as to prevent the steel bar 300 from being stuck in other areas and unable to be conveyed. In addition, the distance between the two first guiding wheels 20804 is less than the width of the conveying channel 20806, so as to accurately send the steel bar 300 into the conveying channel 20806.

[0121] In some embodiments, the picking and conveying mechanism 200 further includes a pressing mechanism 205. The pressing mechanism 205 is located above the rolling mechanism. Refer to Figure 13, the pressing mechanism 205 includes a fifth cylinder 20501, a roller support 20502, a second guide rail 207, a driven roller 20506, a second guide wheel 20505, etc. The fifth cylinder 20501 is installed on the frame 211, and the fifth cylinder 20501 has a fifth cylinder rod extending downward; the roller support 20502 is provided at the end of the fifth cylinder rod; the second guide rail 207 is provided on the frame 211, and the second guide rail 207 is arranged along the height direction of the frame 211. The roller support 20502 is connected to the two second guide rails 207, and the roller support 20502 moves along the second guide rail 207 driven by the fifth cylinder 20501, so that the pressing mechanism 205 moves along the second guide rail 207; the driven roller 20506 is provided in the roller support 20502, and the second guide wheel 20505 and the driven roller are both connected to the roller support 20502 through a pin shaft 20503. A limit plate 20504 for restricting the axial movement of the pin shaft 20503 is provided at the end of the pin shaft 20503. After the roller support 20502 descends, the driven roller 20506 presses the steel bar 300 and cooperates with the driving conveyor wheel 20805 to clamp and convey the steel bar 300; the second guide wheel 20505 is provided in the roller support 20502 and plays a guiding role in the longitudinal conveyance of the steel bar 300.

[0122] In the embodiment of the present invention, the pressing mechanism 205 is located above the rolling position. After the steel bar 300 is clamped and placed between the two first guide wheels 20804 of each group of the rolling mechanism 208, the pressing mechanism 205 presses the steel bar 300. Specifically, when the steel bar 300 is clamped and sent below the pressing mechanism 205, the fifth cylinder 20501 of the pressing mechanism 205 acts, and the driven roller 20506 will press the steel bar 300 and cooperate with the driving conveyor wheel 20805 to clamp and convey the steel bar 300. The driving conveyor wheel 20805 is installed on the frame 211, and together with the driving of the driving conveyor wheel 20805, the steel bar 300 is conveyed to the next working station or processing equipment.

[0123] In the above embodiment, the rolling mechanism 208 adopts the method of clamping and rolling up and down to send the steel bar 300 to the processing equipment or production line. In some other embodiments, other methods such as clamping and rolling left and right can also be adopted as long as the same functions can be achieved.

[0124] When the clamping mechanism 203 starts to convey the first steel bar 300 (i.e., the steel bar 300 at the clamping position), if the remaining steel bars 300 on the receiving rod 20902 move in the conveying direction, the following results will occur: on the one hand, the moved steel bar 300 cannot enter the conveying channel 20806 after being clamped and cannot run along the established route; on the other hand, when there are multiple remaining steel bars 300 of the current specification but the model needs to be switched, the receiving rod 20902 retracts to put the remaining steel bars 300 back into the raw material bin. However, since the steel bars 300 have moved forward, they may exceed the edge of the bin, resulting in the steel bars 300 being unable to enter the bin. To solve this problem, the picking and conveying mechanism 200 further includes a material blocking mechanism 210 disposed above the receiving mechanism 209. The material blocking mechanism 210 is installed on the frame 211 and is located above the receiving rod 20902. Its specific position is as Figure 14 shown. Refer to Figure 15 . The material blocking mechanism 210 includes a sixth cylinder 21002 and a baffle 21001. The sixth cylinder 21002 is fixed to the frame 211. The sixth cylinder 21002 has a sixth cylinder rod extending downward; the baffle 21001 is connected to the end of the sixth cylinder rod, and the baffle 21001 blocks the end of the unclamped steel bar 300 on the receiving mechanism 209. When the steel bar 300 starts to be conveyed, the sixth cylinder rod of the material blocking mechanism 210 extends, and the baffle 21001 will block the end of the unclamped steel bar 300 on the receiving rod 20902, preventing the remaining steel bars 300 from longitudinally moving in the conveying direction when the steel bar 300 starts to be conveyed.

[0125] Refer to Figure 16 . The process of picking steel bars using the above-mentioned multi-specification steel bar precise picking device is as follows: Steel bars 300 of different specifications are placed in different bins 101 of the movable bin 100. When it is necessary to switch to different specifications of steel bars, the movable bin 100 moves to the target position, and the remaining steel bars 300 on the receiving mechanism 209 fall into the bin 101 corresponding to the original specification steel bars. The bin 101 corresponding to the target specification steel bars moves below the picking mechanism 204. The picking mechanism 204 sucks the target specification steel bar 300, and the steel bar 300 is placed on the receiving mechanism 209. The flattening mechanism 202 adjusts the steel bar 300 to a single layer and prevents secondary stacking. The positioning mechanism 201 positions the steel bar 300, and the clamping mechanism 203 grabs the steel bar 300 and places it on the rolling and conveying mechanism 208. The rolling and conveying mechanism 208 conveys the steel bar 300 to the processing equipment.

[0126] The multi-specification steel bar precise picking device provided by the above embodiments of the present invention can arbitrarily switch steel bars of different specifications during picking through the movable bin and the picking and conveying mechanism, and can also pick and convey steel bars of different specifications according to a pre-set program. Through the mutual cooperation of the movable bin, the material receiving mechanism, the flattening mechanism, the positioning mechanism, the clamping mechanism, the rolling mechanism, etc., it is possible to realize batch and efficient processing of steel bars of the same specification and precise picking of steel bars of different specifications.

[0127] The specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various deformations or modifications within the scope of the claims, which does not affect the essence of the present invention. The above preferred features can be arbitrarily combined and used without conflict.

Claims

1. A precise picking device for multi-specification steel bars, characterized in that, It includes a movable bin and a picking and conveying mechanism. The movable bin includes multiple bins, and each bin contains steel bars of the same specification; the picking and conveying mechanism includes: A frame, which provides support for the picking and conveying mechanism; A picking mechanism, fixed on the top of the frame, and the picking mechanism is used to pick steel bars of the target specification from the movable bin; A receiving mechanism, located below the picking mechanism, and the receiving mechanism is used to cache the steel bars picked by the picking mechanism. One end of the receiving mechanism is the clamping position; A leveling mechanism, located on one side of the receiving mechanism, and the leveling mechanism reciprocally levels the stacked steel bars on the receiving mechanism into a single-layer arrangement; A positioning mechanism, located on one side of the receiving mechanism and far from the clamping position, and the positioning mechanism pushes the leveled steel bars towards the clamping position along the direction perpendicular to the axial direction of the steel bars, so that the steel bars are sequentially and closely arranged from the clamping position; A clamping mechanism, fixed on the frame and located above the receiving mechanism, and the clamping mechanism clamps the steel bars at the clamping position on the receiving mechanism; A rolling and conveying mechanism, fixed on the frame, and the rolling and conveying mechanism is used to convey the steel bars clamped by the clamping mechanism to the processing equipment.

2. The multi-specification steel bar precise picking device according to claim 1, wherein The movable bin further includes: A support frame, arranged below the multiple bins, and the support frame is used to support the multiple bins; Bin guide rails, fixed on the support frame and located at the bottom of the movable bin, and the bin guide rails are arranged along the length direction perpendicular to the bins; A driving device, arranged at the bottom of the movable bin, and the driving device drives the bins to move along the bin guide rails.

3. The multi-specification steel bar precise picking device according to claim 1, characterized in that, The picking mechanism includes: A first cylinder fixing plate, fixed on the frame; A first cylinder, fixed on the first cylinder fixing plate, and the first cylinder rod of the first cylinder extends downward; A limiting rod, its lower end passes through the first cylinder fixing plate, and its upper end is connected with a connecting plate, the connecting plate is fixed on the frame, and a limiting ring is arranged on the limiting rod, and the limiting ring is used to adjust the stroke of the first cylinder; A second buffer pad, sleeved on the limiting rod, and the second buffer pad is close to the upper surface of the first cylinder fixing plate; A guide rod fixing plate, connected to the end of the first cylinder rod, and the lower end of the limiting rod is fixed on the guide rod fixing plate; A guide rod, its upper end is connected with the guide rod fixing plate, and the guide rod fixing plate can slide along the guide rod; An electromagnet, arranged at the lower end of the guide rod, and the electromagnet is used to suck the steel bars.

4. The multi-specification steel bar precise picking device according to claim 3, characterized in that The lower end of the guide rod is connected with an electromagnet support plate, and the electromagnet is connected with the electromagnet support plate through a hinge seat. The hinge seat includes a rotation axis in the x direction and a rotation axis in the y direction, and the hinge seat has rotational degrees of freedom in the x direction and the y direction.

5. The multi-specification steel bar precise picking device according to claim 1, characterized in that, The receiving mechanism includes: A receiving rod, and the clamping position is located at one end of the receiving rod, and the steel bars are placed perpendicular to the axial direction of the receiving rod; A second cylinder, fixed on the frame, and the end of the second cylinder rod of the second cylinder is connected with the middle part of the receiving rod, and the telescopic direction of the second cylinder rod is perpendicular to the axial direction of the receiving rod; Rollers, sleeved on both ends of the receiving rod.

6. The multi-specification steel bar precise picking device according to claim 1, characterized in that, The leveling mechanism includes: A bracket, fixed to the frame; A guide rail, fixed to the bracket, and the guide rail is arranged along the height direction of the leveling mechanism; A movable plate, with one side of the movable plate fixed to the slider of the guide rail; A first servo motor - reducer combination and a second servo motor - reducer combination, both fixed to the movable plate, and the first servo motor - reducer combination is located below the second servo motor - reducer combination; A first gear, connected to the output shaft of the second servo motor - reducer combination; A second gear, connected to the output shaft of the first servo motor - reducer combination; A first rack, arranged along the height direction of the leveling mechanism, fixed to the bracket and cooperating with the first gear; A third guide rail, arranged on the other side of the movable plate, perpendicular to the guide rail, and a rack mounting plate is provided on the slider of the third guide rail; A second rack, fixed to the rack mounting plate, perpendicular to the first rack, and cooperating with the second gear; A third cylinder, fixed to the rack mounting plate, and the third cylinder has a third cylinder rod that can extend and retract along the height direction of the leveling mechanism; A leveling plate, installed at the end of the third cylinder rod.

7. The multi-specification steel bar precise picking device according to claim 5, characterized in that A positioning column is provided at the end of the receiving rod near the clamping position, and the positioning column is used to position the steel bar at the clamping position; the positioning mechanism includes: A fixed seat, fixed to the frame; A fourth cylinder, fixed to the fixed seat, located above the fixed seat, and the fourth cylinder has a fourth cylinder rod that can extend and retract perpendicular to the axial direction of the steel bar; A sixth guide rail, arranged on the lower surface of the fixed seat, and the length direction of the sixth guide rail is consistent with the extension and retraction direction of the fourth cylinder rod; A positioning push plate, with one end fixed to the slider of the sixth guide rail and the other end fixed to the end of the fourth cylinder rod; the positioning push plate pushes the leveled steel bar towards the clamping position until it presses against the positioning column.

8. The multi-specification steel bar precise picking device according to claim 1, characterized in that, The rolling and conveying mechanism includes: A motor - reducer combination, installed on the frame; A sprocket, connected to the output shaft of the motor - reducer combination; A driving conveying wheel, connected to the sprocket through a chain; Two groups of first guide wheels, respectively arranged at both ends of the steel bar moving direction on the rolling and conveying mechanism, and each group of first guide wheels includes two first guide wheels located on both sides of the driving conveying wheel respectively; a space for placing the steel bar is formed between the two first guide wheels in each group, and it plays a guiding role in steel bar conveying; A conveying channel, and the driving conveying wheel rotates to introduce the steel bar into the conveying channel.

9. The multi-specification steel bar precise picking device according to claim 8, characterized in that, The picking and conveying mechanism further includes a pressing mechanism, and the pressing mechanism is located above the rolling and conveying mechanism. The pressing mechanism includes: A fifth cylinder, installed on the frame, and the fifth cylinder has a fifth cylinder rod that extends downward; A roller support, arranged at the end of the fifth cylinder rod; The second guide rail is arranged on the frame. The second guide rail is arranged along the height direction of the frame, and the roller support moves along the second guide rail driven by the fifth cylinder; The driven rolling wheel is arranged in the roller support. After the roller support descends, the driven rolling wheel presses the steel bar and cooperates with the driving conveying wheel to clamp and convey the steel bar; The second guide wheel is arranged in the roller support. The second guide wheel guides the longitudinal conveying of the steel bar.

10. The multi-specification steel bar precise picking device according to claim 1, characterized in that, The picking and conveying mechanism further includes a material blocking mechanism arranged above the material receiving mechanism. The material blocking mechanism includes: The sixth cylinder is fixed on the frame. The sixth cylinder has a sixth cylinder rod extending downward; The baffle is connected to the end of the sixth cylinder rod. The baffle blocks the end of the steel bar that has not been clamped on the material receiving mechanism.

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