Disorder bar material taking positioning device

Abstract

The application provides a disordered rod material taking and positioning device, which comprises a material taking part, a positioning part and a mechanical arm, the material taking part comprises a middle clamping device and a material taking device, the middle clamping device and the material taking device are oppositely arranged on a fixed frame, and the fixed frame is rotatably arranged on the mechanical arm; the positioning part is arranged adjacent to the material taking part, and the positioning part comprises a 3D camera and a positioning table. The 3D camera is used for confirming the position information of the rod material in a material box, and sending the position information to the mechanical arm; the mechanical arm controls the material taking device to fix the rod material, and controls the material device to place the rod material on the positioning table; the positioning table sends the detected length of the rod material to the mechanical arm, and the mechanical arm places the rod material to a region to be processed. In this way, the disordered rod material taking and positioning device can automatically complete the positioning and grabbing of rod materials with different lengths, the working efficiency of the disordered rod material taking and positioning device is improved, manual positioning is not needed, and the safety of the operator is ensured.

Description

Technical Field

[0001] This invention relates to the field of bar stock positioning technology, and more specifically, to a material handling and positioning device for disordered bar stock. Background Technology

[0002] Currently, most bar stock parts on the market are loaded manually or by robotic arms. However, robotic arms primarily handle single-size parts by sorting and positioning them before loading; they cannot determine the exact position of the bar stock, only grasping it after it has been positioned. Manual loading is labor-intensive, and although it can be aided by tools such as cantilever cranes, it is inefficient and poses safety hazards.

[0003] The existing technology has the following problems:

[0004] 1. It can only handle the loading and unloading of bar stock of a single size at the same time, and cannot meet the needs of precise automatic handling of bar stock of various diameters and lengths.

[0005] 2. It cannot determine the position of the bar stock; it can only grab the bar stock after it has been positioned. Summary of the Invention

[0006] The main objective of this invention is to provide a material handling and positioning device for disordered bar stock, so as to solve the problem that the material handling and positioning devices for bar stock in the prior art can only position bar stock of a single specification and length.

[0007] To achieve the above objectives, according to one aspect of the present invention, a material handling and positioning device for disordered bar stock is provided, comprising: a material handling section, the material handling section including an intermediate clamping device, a material handling device, and a robotic arm, the intermediate clamping device and the material handling device being disposed opposite to each other on a fixed frame, the fixed frame being rotatably disposed on the robotic arm; a positioning section, the positioning section being disposed adjacent to the material handling section, the positioning section including a 3D camera and a positioning stage, the positioning stage including a bar stock length detection switch and a bar stock position detection switch, the bar stock position detection switch being used to detect whether the bar stock has been positioned, and the bar stock length detection switch being used to detect the length of the positioned bar stock; wherein, the 3D camera is used to confirm the position information of the bar stock in the material box, wherein, the material box is disposed adjacent to the material handling section, the robotic arm controls the material handling device to fix the bar stock according to the position information, the robotic arm controls the material handling device to place the bar stock on the positioning stage, the robotic arm controls the intermediate clamping device to grip the bar stock at the middle position according to the bar stock length information detected by the bar stock length detection switch, and the gripped bar stock is placed in the processing area through the intermediate clamping device.

[0008] Furthermore, the material handling unit also includes: a base, one end of the robotic arm is rotatably mounted on the base, and the other end of the robotic arm is connected to a fixed frame.

[0009] Furthermore, the intermediate clamping device includes: a clamping cylinder connected to a fixed frame; an upper clamping jaw connected to the side of the clamping cylinder away from the fixed frame; and two lower clamping jaws connected to the side of the clamping cylinder away from the fixed frame. The two lower clamping jaws are arranged opposite each other on both sides of the clamping cylinder, and the lower clamping jaws are arranged adjacent to the upper clamping jaws. The lower clamping jaws and the upper clamping jaws have a clamping position where they are close to each other and clamp the bar material, and a releasing position where they are far apart from each other.

[0010] Furthermore, the material handling device includes: a positioning connecting shaft, the first end of which is connected to a fixed frame, and the second end of which is provided with a connecting groove; a swing positioning sleeve, the first end of which is disposed in the connecting groove, and the swing positioning sleeve is connected to the positioning connecting shaft through a connector, and the swing positioning sleeve is rotatably disposed around the center line of the connector; a telescopic shaft, the first end of which is connected to the second end of the swing positioning sleeve; and an electromagnet, which is connected to the second end of the telescopic shaft, the electromagnet being used to adsorb the bar material, and when the electromagnet adsorbs the bar material, the electromagnet causes the telescopic shaft to be in a compressed state; wherein, a spring is sleeved on the telescopic shaft, the first end of which abuts against the swing positioning sleeve, and the second end of which abuts against the electromagnet.

[0011] Furthermore, a limiting member is provided on the side wall of the connecting groove. The first end of the limiting member is connected to the side wall of the connecting groove, and the second end of the limiting member extends along the width direction of the connecting groove. The swing positioning sleeve is rotatably provided along the center line of the limiting member. The swing positioning sleeve has a limiting position that fits with the limiting member and a swing position that moves away from the limiting member.

[0012] Furthermore, the electromagnet has multiple V-shaped adsorption surfaces on the side away from the telescopic shaft. These V-shaped adsorption surfaces are spaced apart and are used to adsorb the bar material.

[0013] Furthermore, the positioning unit also includes: a worktable; an inclined mounting bracket, the first end of which is connected to the worktable, the second end of which has an inclined surface, the positioning table being disposed on the inclined surface and connected to the inclined mounting bracket.

[0014] Furthermore, the positioning platform also includes: a connecting plate, which is connected to the second end of the inclined mounting bracket; and a V-shaped positioning block, which is connected to the side of the connecting plate away from the inclined mounting bracket. The side of the V-shaped positioning block away from the connecting plate is provided with a discharge groove for placing bar stock.

[0015] Furthermore, the distance from the first end of the connecting plate to the ground is less than the distance from the second end of the connecting plate to the ground. The bar stock arrival detection switch is set at the first end of the connecting plate, and the bar stock arrival detection switch is set in contact with the first end of the V-shaped positioning block. The bar stock length detection switch is set at the second end of the V-shaped positioning block.

[0016] Furthermore, the positioning unit also includes a bracket, the first end of which is connected to the worktable, the bracket is arranged adjacent to the inclined mounting bracket, and the second end of the bracket is provided with a mounting structure for mounting a 3D camera.

[0017] The present invention utilizes a material handling unit comprising an intermediate clamping device, a material handling device, and a robotic arm. The positioning unit comprises a 3D camera and a positioning platform. The positioning platform includes a bar length detection switch and a bar arrival detection switch. The bar arrival detection switch detects whether the bar has been positioned, and the bar length detection switch detects the length of the positioned bar. The 3D camera confirms the position information of the bar within the material box and sends this information to the robotic arm. The robotic arm controls the material handling device to fix the bar, and then controls the material handling device to place the bar on the positioning platform. The positioning platform sends the detected bar length to the robotic arm. Based on the bar length, the robotic arm controls the intermediate clamping device to grasp the center position of the bar and place it in the processing area. This allows the unordered bar material handling and positioning device to automatically position and handle bars of different lengths, improving the working efficiency of the unordered bar material handling and positioning device and eliminating the need for manual positioning, thus ensuring operator safety. Attached Figure Description

[0018] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0019] Figure 1 A schematic diagram of an embodiment of a material handling and positioning device for disordered bar stock according to the present invention is shown;

[0020] Figure 2 A schematic diagram of a material handling unit according to an embodiment of the present invention is shown;

[0021] Figure 3 A schematic diagram of an embodiment of an electromagnet according to the present invention is shown;

[0022] Figure 4 A schematic diagram of an embodiment of a positioning part according to the present invention is shown.

[0023] The above figures include the following reference numerals:

[0024] 1. Clamping device; 11. Clamping cylinder; 12. Upper jaw; 13. Lower jaw;

[0025] 2. Material handling device; 21. Positioning connecting shaft; 22. Connecting piece; 23. Swinging positioning sleeve; 24. Spring; 25. Telescopic shaft; 26. Electromagnet; 28. V-shaped adsorption surface;

[0026] 3. Robotic arm; 30. Fixture;

[0027] 4. Base;

[0028] 5. 3D camera;

[0029] 7. Positioning section; 72. Bar stock arrival detection switch; 73. V-shaped positioning block; 74. Bar stock length detection switch; 75. Connecting plate; 76. Inclined mounting bracket; 77. Worktable;

[0030] 8. Bar stock;

[0031] 9. Positioning platform. Detailed Implementation

[0032] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0033] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0034] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such terms can be used interchangeably where appropriate so that the embodiments of this application described herein can be implemented, for example, in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0035] Exemplary embodiments according to this application will now be described in more detail with reference to the accompanying drawings. However, these exemplary embodiments may be implemented in many different forms and should not be construed as being limited to the embodiments set forth herein. It should be understood that these embodiments are provided so that the disclosure of this application is thorough and complete, and that the concept of these exemplary embodiments is fully conveyed to those skilled in the art. In the drawings, for clarity, the thickness of layers and regions may be exaggerated, and the same reference numerals are used to denote the same devices, and therefore their description will be omitted.

[0036] Combination Figures 1 to 4 As shown in the figure, according to a specific embodiment of this application, a material picking and positioning device for disordered bar stock is provided.

[0037] Specifically, a material handling and positioning device for disordered bar stock is characterized by comprising: a material handling section, which includes an intermediate clamping device 1, a material handling device 2, and a robotic arm 3, wherein the intermediate clamping device 1 and the material handling device 2 are disposed opposite to each other on a fixed frame 30, and the fixed frame 30 is rotatably mounted on the robotic arm 3; and a positioning section 7, which is disposed adjacent to the material handling section, and includes a 3D camera 5 and a positioning stage 9, wherein the positioning stage 9 includes a bar stock length detection switch 74 and a bar stock positioning detection switch 72, the bar stock positioning detection switch 72 being used to detect whether the bar stock 8 has been positioned. The bar length detection switch 74 is used to detect the length of the positioned bar 8; the 3D camera 5 is used to confirm the position information of the bar 8 in the material box. The material box is set adjacent to the picking unit. The robotic arm 3 controls the picking device 2 to fix the bar 8 according to the position information. The robotic arm 3 controls the picking device 2 to place the bar 8 on the positioning table 9. The robotic arm 3 controls the intermediate clamping device 1 to grab the bar 8 at the middle position according to the bar length detection switch 74. The intermediate clamping device 1 then places the grabbed bar 8 into the processing area.

[0038] In this embodiment, the material handling unit includes an intermediate clamping device, a material handling device, and a robotic arm. The positioning unit includes a 3D camera and a positioning platform. The positioning platform includes a bar length detection switch and a bar position detection switch. The bar position detection switch detects whether the bar has been positioned, and the bar length detection switch detects the length of the positioned bar. The 3D camera confirms the position information of the bar in the material box and sends the position information to the robotic arm. The robotic arm controls the material handling device to fix the bar, and then controls the material handling device to place the bar on the positioning platform. The positioning platform sends the detected bar length to the robotic arm. Based on the bar length, the robotic arm controls the intermediate clamping device to grasp the middle position of the bar and place it in the processing area. This allows the unordered bar material handling and positioning device to automatically complete the positioning and gripping of bars of different lengths, improving the working efficiency of the unordered bar material handling and positioning device, eliminating the need for manual positioning, and ensuring the safety of the operator.

[0039] Furthermore, the material handling unit also includes: a base 4, one end of the robotic arm 3 is rotatably mounted on the base 4, and the other end of the robotic arm 3 is connected to the fixed frame 30.

[0040] In this embodiment, one end of the robotic arm 3 is rotatably mounted on the base 4. This arrangement allows the robotic arm 3 to be adjusted to various angles, and the base 4 can prevent the robotic arm 3 from collapsing during operation, effectively protecting the material handling and positioning device for disordered bar stock.

[0041] Further, the intermediate clamping device 1 includes: a clamping cylinder 11 connected to the fixed frame 30; an upper clamping jaw 12 connected to the side of the clamping cylinder 11 away from the fixed frame 30; and two lower clamping jaws 13 connected to the side of the clamping cylinder 11 away from the fixed frame 30. The two lower clamping jaws 13 are arranged opposite to each other on both sides of the clamping cylinder 11. The lower clamping jaws 13 and the upper clamping jaws 12 are arranged adjacent to each other. The lower clamping jaws 13 and the upper clamping jaws 12 have a clamping position that is close to each other and clamps the bar material 8, and a releasing position that is far away from each other.

[0042] In this embodiment, the intermediate clamping device 1 includes a clamping cylinder 11, a lower jaw 13, and an upper jaw 12. The lower jaw 13 and the upper jaw 12 are in a clamping position where they are close to each other and clamp the bar stock 8, and in a releasing position where they are far apart from each other. The intermediate clamping device 1 uses a three-point clamping method with one upper jaw and two lower jaws, which effectively improves the stability of the intermediate clamping device 1 and effectively prevents the bar stock 8 from detaching from the intermediate clamping device 1.

[0043] Further, the material handling device 2 includes: a positioning connecting shaft 21, the first end of which is connected to the fixed frame 30, and the second end of which is provided with a connecting groove; a swing positioning sleeve 23, the first end of which is disposed in the connecting groove, and the swing positioning sleeve 23 is connected to the positioning connecting shaft 21 through a connector 22, and the swing positioning sleeve 23 is rotatably arranged around the center line of the connector 22; a telescopic shaft 25, the first end of which is connected to the second end of the swing positioning sleeve 23; an electromagnet 26, which is connected to the second end of the telescopic shaft 25, and the electromagnet 26 is used to adsorb the bar material 8. When the electromagnet 26 adsorbs the bar material 8, the electromagnet 26 causes the telescopic shaft 25 to be in a compressed state; wherein, a spring 24 is sleeved on the telescopic shaft 25, the first end of which abuts against the swing positioning sleeve 23, and the second end of which abuts against the electromagnet 26.

[0044] In this embodiment, the material handling device 2 includes a positioning connecting shaft 21, a telescopic shaft 25, and an electromagnet 26. When the electromagnet 26 attracts the bar stock 8, it compresses the telescopic shaft 25. A spring 24 is sleeved on the telescopic shaft 25, with its first end abutting against the swing positioning sleeve 23 and its second end abutting against the electromagnet 26. This arrangement effectively improves the stability of the material handling device 2 and effectively prevents the bar stock 8 from detaching from the device.

[0045] Furthermore, a limiting member is provided on the side wall of the connecting groove. The first end of the limiting member is connected to the side wall of the connecting groove, and the second end of the limiting member extends along the width direction of the connecting groove. The swing positioning sleeve 23 is rotatably arranged along the center line of the limiting member. The swing positioning sleeve 23 has a limiting position that fits with the limiting member and a swing position that moves away from the limiting member.

[0046] In this embodiment, the limiting component is a limiting screw, which is used to limit the rotation angle of the swing positioning sleeve 23. This design effectively prevents damage to the material handling device 2 caused by excessive rotation angle of the swing positioning sleeve 23, and effectively improves the service life of the material handling device 2.

[0047] Furthermore, the electromagnet 26 has multiple V-shaped adsorption surfaces 28 on the side away from the telescopic shaft 25. The multiple V-shaped adsorption surfaces 28 are arranged at intervals and are used to adsorb the bar material 8.

[0048] In this embodiment, the side of the electromagnet 26 away from the telescopic shaft 25 is provided with multiple V-shaped adsorption surfaces 28. The V-shaped adsorption surfaces 28 can more stably adsorb the rods 8 in the material box, effectively preventing the rods 8 from detaching from the electromagnet 26 and improving the stability of the electromagnet 26 in adsorbing the rods 8.

[0049] Furthermore, the positioning unit 7 also includes: a worktable 77; an inclined mounting bracket 76, the first end of which is connected to the worktable 77, the second end of which is provided with an inclined surface, and the positioning table 9 is disposed on the inclined surface and connected to the inclined mounting bracket 76.

[0050] In this embodiment, the positioning part 7 also includes a workbench 77 and an inclined mounting bracket 76. The first end of the inclined mounting bracket 76 is connected to the workbench 77, and the second end of the inclined mounting bracket 76 is provided with an inclined surface. The positioning platform 9 is set on the inclined surface. This arrangement effectively improves the stability of the positioning part 7. When the material taking part places the bar stock 8 on the positioning platform 9, it can prevent the positioning platform 9 from collapsing.

[0051] Furthermore, the positioning table 9 also includes: a connecting plate 75, which is connected to the second end of the inclined mounting bracket 76; and a V-shaped positioning block 73, which is connected to the side of the connecting plate 75 away from the inclined mounting bracket 76. The side of the V-shaped positioning block 73 away from the connecting plate 75 is provided with a discharge groove, which is used to place the bar stock 8.

[0052] In this embodiment, the positioning platform 9 further includes a connecting plate 75 and a V-shaped positioning block 73. The V-shaped positioning block 73 is connected to the side of the connecting plate 75 away from the inclined mounting bracket 76. The side of the V-shaped positioning block 73 away from the connecting plate 75 is provided with a discharge groove, which is used to place the bar stock 8. This ensures that the material handling unit stably places the bar stock 8 in the discharge groove, effectively preventing the bar stock 8 from slipping.

[0053] Furthermore, the distance from the first end of the connecting plate 75 to the ground is less than the distance from the second end of the connecting plate 75 to the ground. The bar stock arrival detection switch 72 is disposed at the first end of the connecting plate 75. The bar stock arrival detection switch 72 is disposed in close contact with the first end of the V-shaped positioning block 73. The bar stock length detection switch 74 is disposed at the second end of the V-shaped positioning block 73.

[0054] In this embodiment, the distance from the first end of the connecting plate 75 to the ground is less than the distance from the second end of the connecting plate 75 to the ground. This makes the V-shaped positioning block 73 also tilted on the connecting plate 75. When the bar 8 is placed on the V-shaped positioning block 73, gravity can fix the bar 8 on the V-shaped positioning block 73, effectively preventing the bar 8 from being positioned inaccurately.

[0055] Furthermore, the positioning unit 7 also includes a bracket 6, the first end of which is connected to the worktable 77. The bracket 6 is arranged adjacent to the inclined mounting bracket 76, and the second end of the bracket 6 is provided with a mounting structure for mounting the 3D camera 5.

[0056] In this embodiment, the positioning unit 7 also includes a bracket 6. The first end of the bracket 6 is connected to the worktable 77, and the second end of the bracket 6 is provided with a mounting structure for mounting a 3D camera 5. This arrangement allows the 3D camera 5 to have a wider field of view to detect the position information of the bar stock 8, ensuring the stability of the unordered bar stock picking and positioning device.

[0057] In another embodiment of this application, after the disordered bar stock frame reaches below the 3D camera, the 3D camera performs initial positioning of the bar stock 8. The 3D camera sends the bar stock coordinates to the robotic arm 3, and the robotic arm 3 moves the bar stock 8 to the bar stock picking position. Due to the overlapping and interaction of the disordered bars, during picking, the spring is compressed, and the telescopic shaft retracts a certain size within the swing positioning sleeve, increasing the pressure of the electromagnet. At the same time, in order to ensure that the bar stock and the V-shaped adsorption surface of the electromagnet are fully in contact, the swing positioning sleeve can swing around the connector 22 within the connector 22 at a certain angle. The range can be adjusted by the swing limit component. After the electromagnet completes the suction of the telescopic shaft, the robotic arm 3 places the bar in the positioning part 7. The bar slides on the V-shaped positioning block by its own weight and slides down to the bar position detection switch 72. After the bar is tilted and positioned, the bar 8 has four different lengths and diameters. The bar length detection switch determines the bar length. Then the robotic arm 3 drives the bar middle clamping component to the center position of the bar. The middle clamping cylinder clamps the bar, and the upper jaw 12 and the lower jaw 13 complete the center positioning and clamping of the bar.

[0058] As can be seen from the above description, the embodiments of the present invention achieve the following technical effects:

[0059] It can automatically identify and precisely position disordered bar stock. It uses a 3D camera to position disordered bar stock, and uses an electromagnet V-shaped adsorption surface and a bar stock clamping component in the middle position to accommodate the loading and unloading of bar stock of various diameters and lengths. The bar stock can be precisely positioned in the positioning part 7.

[0060] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0061] In addition to the above, it should be noted that the terms "one embodiment," "another embodiment," and "embodiment" used in this specification refer to specific features, structures, or characteristics described in connection with that embodiment, which are included in at least one embodiment described in the general description of this application. The appearance of the same expression in multiple places in the specification does not necessarily refer to the same embodiment. Furthermore, when a specific feature, structure, or characteristic is described in connection with any embodiment, the intention is to suggest that implementing such a feature, structure, or characteristic in conjunction with other embodiments also falls within the scope of this invention.

[0062] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0063] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A material handling and positioning device for disordered bar stock, characterized in that, include: The material handling unit includes an intermediate clamping device (1), a material handling device (2), and a robotic arm (3). The intermediate clamping device (1) and the material handling device (2) are arranged opposite to each other on a fixed frame (30), and the fixed frame (30) is rotatably arranged on the robotic arm (3). The positioning unit (7) is arranged adjacent to the material picking unit. The positioning unit (7) includes a 3D camera (5) and a positioning stage (9). The positioning stage (9) includes a bar length detection switch (74) and a bar position detection switch (72). The bar position detection switch (72) is used to detect whether the bar (8) has been positioned. The bar length detection switch (74) is used to detect the length of the positioned bar (8). The 3D camera (5) is used to confirm the position information of the bar stock (8) in the material box. The material box is arranged adjacent to the material picking unit. The robotic arm (3) controls the material picking device according to the position information. (2) Fix the bar stock (8), and the robotic arm (3) controls the material handling device (2) to place the bar stock (8) on the positioning table (9). The robotic arm (3) controls the intermediate clamping device (1) to grab the bar stock (8) at the middle position according to the length information of the bar stock (8) detected by the bar stock length detection switch (74), and places the grabbed bar stock (8) into the processing area through the intermediate clamping device (1). The intermediate clamping device (1) includes: A clamping cylinder (11) is connected to the fixing frame (30); Upper gripper (12), the upper gripper (12) is connected to the side of the clamping cylinder (11) away from the fixed frame (30); The lower jaws (13) consist of two jaws (13), and the two lower jaws (13) are connected to the clamping cylinder. (11) Connected to the side away from the fixed frame (30), the two lower jaws (13) are arranged opposite to each other on both sides of the clamping cylinder (11), the lower jaws (13) and the upper jaws (12) are arranged adjacent to each other, the lower jaws (13) and the upper jaws (12) have a clamping position that is close to each other and clamps the bar (8), and the lower jaws (13) and the upper jaws (12) have a releasing position that is far away from each other; The material handling device (2) includes: A positioning connecting shaft (21) is provided, the first end of which is connected to the fixing frame (30), and the second end of which is provided with a connecting groove. A swing positioning sleeve (23) is provided at its first end in the connecting groove. The swing positioning sleeve (23) is connected to the positioning connecting shaft (21) through a connector (22). The swing positioning sleeve (23) is rotatably provided around the center line of the connector (22). Telescopic shaft (25), the first end of which is connected to the second end of the swing positioning sleeve (23); Electromagnet (26), the electromagnet (26) is connected to the second end of the telescopic shaft (25), the electromagnet (26) is used to adsorb the bar (8). When the electromagnet (26) adsorbs the bar (8), the electromagnet (26) causes the telescopic shaft (25) to be in a compressed state. The telescopic shaft (25) is fitted with a spring (24), the first end of the spring (24) abuts against the swing positioning sleeve (23), and the second end of the spring (24) abuts against the electromagnet (26).

2. The material handling and positioning device for disordered bar stock according to claim 1, characterized in that, The material handling unit also includes: The base (4) has one end of the robotic arm (3) rotatably mounted on it. (3) The other end is connected to the fixing frame (30).

3. The material handling and positioning device for disordered bar stock according to claim 1, characterized in that, The connecting groove has a limiting member on its side wall. The first end of the limiting member is connected to the side wall of the connecting groove, and the second end of the limiting member extends along the width direction of the connecting groove. The swing positioning sleeve (23) is rotatably arranged along the center line of the limiting member. The swing positioning sleeve (23) has a limiting position that fits with the limiting member and a swing position that is away from the limiting member.

4. The material handling and positioning device for disordered bar stock according to claim 1, characterized in that, The electromagnet (26) has a plurality of V-shaped adsorption surfaces (28) on the side away from the telescopic shaft (25). The plurality of V-shaped adsorption surfaces (28) are arranged at intervals and are used to adsorb the bar material (8).

5. The material handling and positioning device for disordered bar stock according to claim 1, characterized in that, The positioning unit (7) also includes: a worktable (77); An inclined mounting bracket (76) is provided. The first end of the inclined mounting bracket (76) is connected to the workbench (77). The second end of the inclined mounting bracket (76) is provided with an inclined surface. The positioning table (9) is set on the inclined surface and connected to the inclined mounting bracket (76).

6. The material handling and positioning device for disordered bar stock according to claim 5, characterized in that, The positioning platform (9) further includes a connecting plate (75), which is connected to the second end of the inclined mounting bracket (76); V-shaped positioning block (73), the V-shaped positioning block (73) is connected to the side of the connecting plate (75) away from the inclined mounting bracket (76), and the side of the V-shaped positioning block (73) away from the connecting plate (75) is provided with a discharge groove, the discharge groove is used to place the bar stock (8).

7. The material handling and positioning device for disordered bar stock according to claim 6, characterized in that, The distance from the first end of the connecting plate (75) to the ground is less than the distance from the second end of the connecting plate (75) to the ground. The bar stock arrival detection switch (72) is disposed at the first end of the connecting plate (75). The bar stock arrival detection switch (72) is disposed in close contact with the first end of the V-shaped positioning block (73). The bar stock length detection switch (74) is disposed at the second end of the V-shaped positioning block (73).

8. The material handling and positioning device for disordered bar stock according to claim 5, characterized in that, The positioning part (7) also includes a bracket (6), the first end of which is connected to the worktable (77), the bracket (6) is arranged adjacent to the inclined mounting bracket (76), and the second end of the bracket (6) is provided with a mounting structure for mounting the 3D camera (5).

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