Steel pipe sorting robot

Abstract

The invention discloses a steel pipe sorting robot, and relates to the technical field of steel pipe sorting devices, the steel pipe sorting robot comprises a sorting assembly, the sorting assembly comprises a truss, a horizontal moving mechanism is arranged on the truss, a lifting mechanism is arranged on the horizontal moving mechanism, a lifting column is arranged on the lifting mechanism, a connecting plate is fixed to the end of the lifting column, and a connecting seat is arranged at the bottom of the connecting plate; an electromagnet is fixed to the bottom of the connecting base, a connecting rod is fixed in the connecting base, a limiting disc is fixed to the end of the connecting rod, and the surface of the connecting rod is sleeved with a tension spring. The steel pipe sorting device has the beneficial effects that the sorting assembly forms double fixation through electromagnet adsorption and holding claw mechanical clamping, steel pipe falling caused by electromagnet demagnetization can be prevented, and the holding claws are designed in a non-full-surrounding mode, so that placing of the steel pipes to the conveying belt is not affected; gravity generated during steel pipe hoisting drives the connecting base to move downwards, the rotating shaft is automatically driven to rotate to achieve closing of the holding claws, and an extra driving source is not needed.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of steel pipe sorting device, in particular to a steel pipe sorting robot. BACKGROUND

[0002] As a common profile in industrial production and engineering construction, the sorting and transfer of steel pipes is an important process in profile processing and warehousing logistics. In order to improve the operation efficiency, the automatic steel pipe sorting robot is currently used in the industry to complete the hoisting and sorting operation of steel pipes with electromagnet. This kind of way relies on the magnetic attraction of electromagnet to realize the rapid adsorption and release of steel pipe, which is convenient to operate and suitable for automatic sorting process, and becomes the mainstream application scheme.

[0003] However, the existing electromagnet hoisting structure has significant safety and structural defects: the stability of electromagnet adsorption depends on continuous power supply, and once power failure, magnet failure and other conditions occur, demagnetization is easy to occur, which leads to accidental falling of steel pipe, causes equipment damage, material loss and even safety accidents; some schemes add mechanical claw clamping structure to make up for the defect, but need to be equipped with additional driving sources such as motor and cylinder, which not only increases the structural complexity and energy consumption of the sorting robot, but also increases the maintenance cost of the equipment. SUMMARY

[0004] This section aims to summarize some aspects of the embodiments of the present application and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and the abstract and title of the specification to avoid obscuring the purpose of this section, abstract and title, and such simplifications or omissions cannot be used to limit the scope of the present application.

[0005] In view of the above and / or existing problems in the steel pipe sorting robot, the present application is proposed.

[0006] Therefore, the problem to be solved by the present application is that the hoisting structure of the existing steel pipe sorting robot has obvious deficiencies in operation safety.

[0007] To solve the above technical problems, the present application provides the following technical scheme: a steel pipe sorting robot, comprising a sorting assembly, the sorting assembly comprising a truss, a horizontal moving mechanism is arranged on the truss, a lifting mechanism is arranged on the horizontal moving mechanism, a lifting column is arranged on the lifting mechanism, a connecting plate is fixed at the end of the lifting column, a connecting seat is arranged at the bottom of the connecting plate, an electromagnet is fixed at the bottom of the connecting seat, a connecting rod is fixed in the connecting seat, a limiting disc is fixed at the end of the connecting rod, and a tension spring is sleeved on the surface of the connecting rod.

[0008] A positioning component is disposed on the connecting seat, including a clamping member disposed on the connecting seat. The clamping member includes a support base fixed to one side of the connecting seat. A rotating shaft is rotatably connected inside the support base. A gripper is fixed on the surface of the rotating shaft, and an anti-slip pad is fixed on the gripper.

[0009] In a preferred embodiment of the steel pipe sorting robot of the present invention, the positioning component further includes a driving component disposed within the connecting seat. The driving component includes a lifting rack that slides within the connecting seat, a pull rod that slides within the lifting rack, a first spring fixed to one end of the pull rod, the other end of the first spring fixed to the inner wall of the lifting rack, and the other end of the pull rod fixed to the bottom of the connecting plate.

[0010] In a preferred embodiment of the steel pipe sorting robot of the present invention, the driving component further includes a rotating rod rotatably connected to the connecting seat, a gear fixed on the surface of the rotating rod, worm gears fixed on the surfaces of both ends of the rotating rod, and a worm wheel fixed on the surface of the rotating shaft.

[0011] As a preferred embodiment of the steel pipe sorting robot of the present invention, the positioning component further includes a limiting member disposed in the connecting seat, the limiting member including a limiting strip fixed to the surface of the gripper, a limiting block sliding in the connecting seat, a limiting groove being formed on the surface of the limiting strip, and the end of the limiting block being able to be inserted into the limiting groove.

[0012] In a preferred embodiment of the steel pipe sorting robot of the present invention, the limiting component further includes a slide rod that slides within the connecting seat, a second spring is fixed to one side of the slide rod, the other end of the second spring is fixed within the connecting seat, the limiting block slides within the slide rod, a groove is provided on the slide rod, a slider is fixed to the surface of the limiting block, and the slider slides within the groove.

[0013] In a preferred embodiment of the steel pipe sorting robot of the present invention, the positioning component further includes a locking member disposed within the connecting seat. The locking member includes a lifting rod that slides within the connecting seat. A third spring is fixed to one side of the lifting rod, and the other end of the third spring is fixed to the inner wall of the connecting seat.

[0014] In a preferred embodiment of the steel pipe sorting robot of the present invention, the locking component further includes a magnetic suction piece fixed to the bottom of the lifting rod, and the connecting seat has a lifting groove, wherein the magnetic suction piece slides in the lifting groove.

[0015] In a preferred embodiment of the steel pipe sorting robot of the present invention, the locking component further includes an extrusion column fixed to the surface of the lifting rod, the end of the extrusion column having an extrusion surface, and the extrusion column sliding within the connecting seat.

[0016] As a preferred embodiment of the steel pipe sorting robot of the present invention, the locking component further includes a limiting plate that slides within the connecting seat, a fourth spring is fixed inside the limiting plate, the other end of the fourth spring is fixed inside the connecting seat, and a slot is formed on the surface of the limiting plate.

[0017] In a preferred embodiment of the steel pipe sorting robot of the present invention, a drive rod is fixed on the surface of the limiting plate, the drive rod slides within the connecting seat, and an inclined surface is provided at the end of the drive rod, which can be squeezed by the limiting plate.

[0018] The beneficial effects of this invention are as follows: the sorting component forms a double fixation through electromagnet adsorption and gripper mechanical clamping, which can prevent the steel pipe from falling due to electromagnet demagnetization, and the gripper is not a fully enclosed design, so it does not affect the placement of the steel pipe on the conveyor belt.

[0019] During steel pipe hoisting, gravity causes the connecting seat to move downwards, automatically driving the rotating shaft to close the gripper without requiring an additional drive source. Before the gripper closes, the electromagnet is energized to attract the magnetic plate, causing the lifting rod to move downwards. This causes the squeezing column to push the sliding rod, allowing the limit block to insert into the limit groove, thus initially limiting the gripper. At the same time, the limit plate moves upwards to squeeze the driving rod, limiting the squeezing column. Even if the electromagnet is accidentally de-energized, the gripper will not loosen, completely eliminating the possibility of the steel pipe falling off. Attached Figure Description

[0020] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a scene illustration of a steel pipe sorting robot.

[0022] Figure 2 This is a structural diagram of the gripper component of a steel pipe sorting robot.

[0023] Figure 3 This is a partial sectional view of the connecting seat of a steel pipe sorting robot.

[0024] Figure 4 This is a cross-sectional view of the magnetic chuck of a steel pipe sorting robot.

[0025] Figure 5This is a diagram of the internal structure of the connector of a steel pipe sorting robot.

[0026] Figure 6 This is a diagram of the sliding bar structure of a steel pipe sorting robot.

[0027] Figure 7 This is a partial cross-sectional view of the lifting rack of a steel pipe sorting robot.

[0028] Figure 8 This is a structural diagram of the limit plate for a steel pipe sorting robot.

[0029] Figure 9 This is a cross-sectional view of the limiting block of a steel pipe sorting robot.

[0030] In the diagram: Sorting assembly 1; Truss 11; Horizontal moving mechanism 12; Lifting mechanism 13; Lifting column 14; Connecting plate 15; Connecting seat 16; Electromagnet 17; Connecting rod 18; Limiting plate 19; Tension spring 110; Positioning assembly 2; Clamping component 21; Support seat 211; Rotating shaft 212; Claw 213; Anti-slip pad 214; Driving component 22; Lifting rack 221; Pull rod 222; First spring 223; Rotating rod 224; Gear 225; Worm gear 226; Worm gear; 227; Limiting component; 23; Limiting strip; 231; Limiting block; 232; Limiting groove; 231-1; Slide rod; 233; Second spring; 234; Slide groove; 233-1; Slider; 235; Locking component; 24; Lifting rod; 241; Third spring; 242; Magnetic suction plate; 247; Lifting groove; 16-1; Extrusion column; 243; Extrusion surface; 243-1; Limiting plate; Fourth spring; 245; Slot; 244-1; Drive rod; 246; Inclined surface; 246-1. Detailed Implementation

[0031] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0032] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0033] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that is mutually exclusive with other embodiments.

[0034] Example 1, referring to Figures 1-6This is the first embodiment of the present invention. This embodiment provides a steel pipe sorting robot. The steel pipe sorting robot includes a sorting component 1, including a truss 11. A horizontal moving mechanism 12 is provided on the truss 11. A lifting mechanism 13 is provided on the horizontal moving mechanism 12. A lifting column 14 is provided on the lifting mechanism 13. The horizontal moving mechanism 12 and the lifting mechanism 13 are existing technologies. The horizontal moving mechanism 12 drives the lifting mechanism 13 to move in the horizontal direction. The lifting mechanism 13 can drive the lifting column 14 to move up and down.

[0035] A connecting plate 15 is fixed to the end of the lifting column 14. A connecting seat 16 is provided at the bottom of the connecting plate 15. An electromagnet 17 is fixed to the bottom of the connecting seat 16. The electromagnet 17 can generate magnetic force when energized, thereby generating an attraction force on the steel pipe. A connecting rod 18 is fixed inside the connecting seat 16. There are four connecting rods 18. A limit plate 19 is fixed to the end of the connecting rod 18. The limit plate 19 slides inside the connecting seat 16. A tension spring 110 is sleeved on the surface of the connecting rod 18. The tension spring 110 is in a stretched state. When the electromagnet 17 attracts the steel pipe, the lifting mechanism 13 is activated, which can drive the lifting column 14 to rise, thereby making the electromagnet 17 lift the steel pipe. At this time, the tension spring 110 is further stretched under the action of the weight of the steel pipe, so that the limit plate 19 moves upward relative to the connecting seat 16 and moves to the top of its slide.

[0036] Positioning component 2 is disposed on connecting base 16 and includes clamping component 21 disposed on connecting base 16. Clamping component 21 includes support base 211 fixed on both sides of connecting base 16. Rotating shaft 212 is rotatably connected inside support base 211. Multiple grippers 213 are fixed on the surface of rotating shaft 212. Anti-slip pads 214 are fixed on grippers 213.

[0037] By rotating the rotating shaft 212, multiple grippers 213 on both sides of the connecting seat 16 can be driven to clamp the steel pipe, so that the anti-slip pad 214 is tightly attached to the surface of the steel pipe. This can prevent the steel pipe from falling accidentally when the electromagnet 17 loses its magnetic force. The grippers 213 do not completely surround the steel pipe, and the bottom of the steel pipe is not clamped by the grippers 213, so that after the sorting component 1 moves the steel pipe above the conveyor belt, the grippers 213 will not affect the placement of the steel pipe on the conveyor belt.

[0038] Example 2, refer to Figures 5-7 This is the second embodiment of the present invention, which is based on the previous embodiment.

[0039] Specifically, the positioning component 2 also includes a driving component 22 disposed within the connecting seat 16. The driving component 22 includes a lifting rack 221 that slides within the connecting seat 16. A pull rod 222 slides within the lifting rack 221. A first spring 223 is fixed to one end of the pull rod 222. The other end of the first spring 223 is fixed to the inner wall of the lifting rack 221. The first spring 223 is in a compressed state. The other end of the pull rod 222 is fixed to the bottom of the connecting plate 15. When the steel pipe is hoisted, the connecting seat 16 can move downward relative to the connecting plate 15 due to the weight of the steel pipe. At this time, the lifting rack 221 can rise relative to the connecting seat 16 under the pull of the pull rod 222.

[0040] The drive unit 22 also includes a rotating rod 224 rotatably connected to the connecting seat 16. A gear 225 is fixed on the surface of the rotating rod 224. The gear 225 meshes with the lifting rack 221. Worms 226 are fixed on the surfaces of both ends of the rotating rod 224. A worm wheel 227 is fixed on the surface of the rotating shaft 212. The worm 226 meshes with the worm wheel 227.

[0041] When the lifting rack 221 rises relative to the connecting seat 16, it can drive the gear 225 to rotate, which in turn drives the worm gear 226 to rotate through the rotating rod 224. This causes the worm gear 226 to drive the worm wheel 227 to rotate, which in turn drives the rotating shaft 212 to rotate. This causes the rotating shaft 212 to drive the multiple grippers 213 on both sides of the connecting seat 16 to clamp the steel pipe.

[0042] Example 3, referring to Figures 1-9 This is the third embodiment of the present invention, which is based on the first two embodiments.

[0043] Specifically, the positioning component 2 also includes a limiting member 23 disposed in the connecting seat 16. The limiting member 23 includes a limiting strip 231 fixed to the surface of the gripper 213. A limiting block 232 slides in the connecting seat 16. A limiting groove 231-1 is formed on the surface of the limiting strip 231. The end of the limiting block 232 can be inserted into the limiting groove 231-1, thereby limiting the limiting strip 231 and thus limiting the gripper 213, so that the gripper 213 will not easily loosen from the steel pipe. A compression spring is provided in the limiting block 232. Since it provides a pushing force to the limiting block 232, the limiting block 232 can be inserted into the limiting groove 231-1.

[0044] The limiting component 23 also includes a slide rod 233 that slides within the connecting seat 16. A second spring 234 is fixed to one side of the slide rod 233, and the other end of the second spring 234 is fixed within the connecting seat 16. The second spring 234 is in a stretched state. The limiting block 232 slides within the slide rod 233. A groove 233-1 is provided on the slide rod 233. A slider 235 is fixed to the surface of the limiting block 232. The slider 235 slides within the groove 233-1. Due to the limiting of the limiting block 232, in the current illustrated state, the limiting block 232 cannot be inserted into the limiting groove 231-1.

[0045] The positioning component 2 also includes a locking member 24 disposed in the connecting seat 16. The locking member 24 includes a lifting rod 241 that slides in the connecting seat 16. A third spring 242 is fixed on one side of the lifting rod 241 and the other end of the third spring 242 is fixed to the inner wall of the connecting seat 16. The third spring 242 is in a stretched state, so that the lifting rod 241 can be reset under the reset pull of the third spring 242 after it descends.

[0046] The locking component 24 also includes a magnetic suction piece 247 fixed to the bottom of the lifting rod 241. The connecting seat 16 has a lifting groove 16-1. The magnetic suction piece 247 slides in the lifting groove 16-1. When the electromagnet 17 is energized, it can generate an attraction force on the magnetic suction piece 247, thereby causing the magnetic suction piece 247 to drive the lifting rod 241 to move downward. When the electromagnet 17 is de-energized, under the reset pull of the third spring 242, it can drive the lifting rod 241 to rise and reset.

[0047] The locking component 24 also includes pressing columns 243 fixed to both sides of the lifting rod 241. The pressing column 243 has a pressing surface 243-1 at its end. The pressing column 243 slides in the connecting seat 16. When the lifting rod 241 moves downward relative to the connecting seat 16, it can drive the pressing column 243 to press the sliding rod 233, thereby causing the sliding rod 233 to move the limiting block 232 closer to the limiting groove 231-1 and insert into the limiting groove 231-1. In this way, when the gripper 213 clamps the steel pipe, the limiting block 232 limits the limiting strip 231, thereby limiting the gripper 213 and preventing the gripper 213 from loosening.

[0048] The locking component 24 also includes a limiting plate 244 that slides within the connecting seat 16. A fourth spring 245 is fixed inside the limiting plate 244. The other end of the fourth spring 245 is fixed inside the connecting seat 16. The fourth spring 245 is in a stretched state. A slot 244-1 is provided on the surface of the limiting plate 244. By setting the slot 244-1, the limiting plate 244 can be inserted into the surface of the lifting rod 241, thereby limiting the downward pressing column 243 and preventing the pressing column 243 from rising and resetting under the action of the lifting rod 241.

[0049] A drive rod 246 is fixed to the surface of the limiting plate 244. The drive rod 246 slides within the connecting seat 16. An inclined surface 246-1 is provided at the end of the drive rod 246. The limiting plate 19 can press against the inclined surface 246-1. When the steel pipe is hoisted, the weight of the steel pipe pulls the connecting seat 16 downward, causing the limiting plate 19 to move upward relative to the connecting seat 16. This causes the limiting plate 19 to press against the inclined surface 246-1 at the end of the drive rod 246, thereby causing the drive rod 246 to move the limiting plate 244 towards the lifting rod 241, thus limiting the pressing column 243.

[0050] In use, when the steel pipe is hoisted, the electromagnet 17 is moved above the steel pipe by the horizontal moving mechanism 12 and the lifting mechanism 13. At this time, the electromagnet 17 is energized, so that the electromagnet 17 attracts the steel pipe. The steel pipe is then lifted by the lifting mechanism 13. The weight of the steel pipe will pull the connecting seat 16, so that the connecting seat 16 moves downward relative to the connecting plate 15.

[0051] At this time, the pull rod 222 drives the lifting rack 221 to rise relative to the connecting seat 16, which can drive the gear 225 to rotate. This causes the gear 225 to drive the worm 226 to rotate through the rotating rod 224, which in turn causes the worm 226 to drive the worm wheel 227 to rotate. This causes the worm wheel 227 to drive the rotating shaft 212 to rotate, which in turn causes the rotating shaft 212 to drive the multiple grippers 213 on both sides of the connecting seat 16 to clamp the steel pipe.

[0052] Furthermore, when the electromagnet 17 is energized, it can generate an attractive force on the magnetic absorbing plate 247, thereby causing the magnetic absorbing plate 247 to drive the lifting rod 241 to move downward. This causes the extrusion surface 243-1 of the extrusion column 243 to extrude the sliding rod 233, thereby causing the sliding rod 233 to drive the limiting block 232 to move closer to the limiting groove 231-1 and insert into the limiting groove 231-1. The limiting block 232 limits the limiting strip 231, thereby limiting the gripper 213 and preventing the gripper 213 from rotating in the opposite direction. This ensures that the gripper 213 will not loosen when clamping the steel pipe.

[0053] During the lifting of the steel pipe, the connecting seat 16 moves downward relative to the connecting plate 15, causing the limiting plate 19 to move upward relative to the connecting seat 16. This causes the limiting plate 19 to press against the inclined surface 246-1 at the end of the drive rod 246, thereby causing the drive rod 246 to move the limiting plate 244 towards the lifting rod 241, thus limiting the pressing column 243. At this time, even if the electromagnet 17 is de-energized, the lifting rod 241 will not reset and move, thus ensuring that the steel pipe will not fall off during the lifting process even if the electromagnet 17 is de-energized.

[0054] When there is a stable support below the steel pipe, the steel pipe can be lifted upwards, causing the connecting seat 16 to move upwards and closer to the connecting plate 15. That is, the limiting plate 19 moves away from the drive rod 246. At this time, the limiting plate 244 moves away from the lifting rod 241 under the tension of the fourth spring 245, thereby releasing the limitation on the extrusion column 243. This allows the lifting rod 241 to rise and reset. At this time, the sliding rod 233 can also reset under the tension of the second spring 234, thereby causing the limiting block 232 to move away from the limiting groove 231-1, thereby releasing the limitation on the limiting strip 231, allowing the gripper 213 to rotate in the opposite direction.

[0055] At this time, as the connecting seat 16 moves upward and approaches the connecting plate 15, the lifting rack 221 drives the gear 225 to rotate in the opposite direction, thereby driving the gripper 213 to rotate in the opposite direction through the worm 226 and worm wheel 227, thus releasing the clamp on the steel pipe and allowing the steel pipe to be removed.

[0056] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A steel pipe sorting robot, characterized in that: include, The sorting assembly (1) includes a truss (11), on which a horizontal moving mechanism (12) is provided, and on which a lifting mechanism (13) is provided, and on which a lifting column (14) is provided, and a connecting plate (15) is fixed at the end of the lifting column (14), and a connecting seat (16) is provided at the bottom of the connecting plate (15), and an electromagnet (17) is fixed at the bottom of the connecting seat (16), and a connecting rod (18) is fixed inside the connecting seat (16), and a limit plate (19) is fixed at the end of the connecting rod (18), and a tension spring (110) is sleeved on the surface of the connecting rod (18). The positioning component (2) is disposed on the connecting seat (16) and includes a clamping member (21) disposed on the connecting seat (16). The clamping member (21) includes a support seat (211) fixed to one side of the connecting seat (16). A rotating shaft (212) is rotatably connected inside the support seat (211). A gripper (213) is fixed on the surface of the rotating shaft (212). An anti-slip pad (214) is fixed on the gripper (213).

2. The steel pipe sorting robot as described in claim 1, characterized in that: The positioning component (2) further includes a drive component (22) disposed in the connecting seat (16). The drive component (22) includes a lifting rack (221) that slides in the connecting seat (16). A pull rod (222) slides in the lifting rack (221). A first spring (223) is fixed at one end of the pull rod (222). The other end of the first spring (223) is fixed to the inner wall of the lifting rack (221). The other end of the pull rod (222) is fixed to the bottom of the connecting plate (15).

3. The steel pipe sorting robot as described in claim 2, characterized in that: The driving component (22) further includes a rotating rod (224) rotatably connected to the connecting seat (16), a gear (225) fixed on the surface of the rotating rod (224), a worm gear (226) fixed on both ends of the rotating rod (224), and a worm wheel (227) fixed on the surface of the rotating shaft (212).

4. The steel pipe sorting robot as described in claim 3, characterized in that: The positioning component (2) further includes a limiting member (23) disposed in the connecting seat (16). The limiting member (23) includes a limiting strip (231) fixed to the surface of the gripper (213). A limiting block (232) slides in the connecting seat (16). A limiting groove (231-1) is formed on the surface of the limiting strip (231). The end of the limiting block (232) can be inserted into the limiting groove (231-1).

5. The steel pipe sorting robot as described in claim 4, characterized in that: The limiting member (23) also includes a slide rod (233) that slides within the connecting seat (16). A second spring (234) is fixed on one side of the slide rod (233), and the other end of the second spring (234) is fixed within the connecting seat (16). The limiting block (232) slides within the slide rod (233). A groove (233-1) is provided on the slide rod (233). A slider (235) is fixed on the surface of the limiting block (232), and the slider (235) slides within the groove (233-1).

6. The steel pipe sorting robot as described in claim 5, characterized in that: The positioning component (2) further includes a locking member (24) disposed in the connecting seat (16). The locking member (24) includes a lifting rod (241) that slides in the connecting seat (16). A third spring (242) is fixed on one side of the lifting rod (241), and the other end of the third spring (242) is fixed to the inner wall of the connecting seat (16).

7. The steel pipe sorting robot as described in claim 6, characterized in that: The locking component (24) also includes a magnetic absorbing piece (247) fixed to the bottom of the lifting rod (241). The connecting seat (16) has a lifting groove (16-1) and the magnetic absorbing piece (247) slides in the lifting groove (16-1).

8. The steel pipe sorting robot as described in claim 7, characterized in that: The locking member (24) also includes a pressing column (243) fixed to the surface of the lifting rod (241), the pressing column (243) has a pressing surface (243-1) at its end, and the pressing column (243) slides in the connecting seat (16).

9. The steel pipe sorting robot as described in claim 8, characterized in that: The locking member (24) also includes a limiting plate (244) that slides within the connecting seat (16). A fourth spring (245) is fixed inside the limiting plate (244), and the other end of the fourth spring (245) is fixed inside the connecting seat (16). A slot (244-1) is provided on the surface of the limiting plate (244).

10. The steel pipe sorting robot as described in claim 9, characterized in that: The limiting plate (244) has a driving rod (246) fixed on its surface. The driving rod (246) slides in the connecting seat (16). The end of the driving rod (246) has an inclined surface (246-1). The limiting plate (19) can press the inclined surface (246-1).

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