Steel bar product taking and placing device, robot and steel bar product production system

Abstract

The utility model relates to the technical field of steel bar machining, and particularly discloses a steel bar product taking and placing device, a robot and a steel bar product production system. The steel bar product taking and placing device comprises a mounting base body, a steel bar taking and placing assembly, a damping body, a first connecting piece and a second connecting piece, and the steel bar taking and placing assembly is used for obtaining or releasing steel bar products and fixed to the mounting base body; the damping body comprises a first connecting end and a second connecting end opposite to the first connecting end; the damping body is connected with the installation base body through the first connecting piece, and the second connecting end is pressed to the installation base body through the first connecting piece. The robot is provided with a pick-and-place device mounting position, the damping body can be connected with the pick-and-place device mounting position through the second connecting piece, and the second connecting piece can press the first connecting end to the pick-and-place device mounting position. When the steel bar product taking and placing device is applied, the problems of alarming, stopping and the like caused by impact of a robot are effectively solved, the robot comprising the device can be prevented from being damaged, and the failure rate is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of steel bar processing, and in particular to a steel bar product taking and placing device, a robot and a steel bar product production system. Background Art

[0002] In the automated production process of steel bar processing, steel bar products (such as stirrups, hook bars, etc.) are processed by steel bar processing equipment through bending, rounding and other processes. Among them, the steel bars need to be cut after processing. Before cutting the steel bars and during the shearing process, the steel bar products need to be held by the robot's steel bar product picking and placing device. During the steel bar cutting process, a large impact will be generated, and this impact is often transmitted to the robot. In the actual production process, it often causes problems such as robot alarms and shutdowns. After a period of use, the robot will be damaged, resulting in an increase in the failure rate of stirrup processing and affecting the normal production of stirrups.

[0003] Therefore, how to reduce the impact on the robot during steel bar shearing is an urgent problem that needs to be solved. Utility Model Content

[0004] The purpose of the utility model is to provide a steel product picking and placing device, a robot and a steel product production system. The steel product picking and placing device can effectively solve the problems of alarm and shutdown caused by impact of the robot during application, can avoid damage to the robot including it, and can also reduce the failure rate.

[0005] In order to achieve the above object, the utility model is implemented through the following technical solutions:

[0006] In the first aspect, the present application provides a steel bar product picking and placing device, which is used for a robot that transports steel bar products, and the steel bar product picking and placing device includes a mounting base, a steel bar picking and placing assembly, a shock absorber, a first connecting piece and a second connecting piece, the steel bar picking and placing assembly is used to obtain or release steel bar products, and the steel bar picking and placing assembly is fixed on the mounting base; the shock absorber includes a first connecting end and a second connecting end, and the first connecting end is opposite to the second connecting end; the shock absorber is connected to the mounting base through the first connecting piece, and the first connecting piece presses the second connecting end to the mounting base; a picking and placing device mounting position is provided on the robot, and the shock absorber can be connected to the picking and placing device mounting position through the second connecting piece, and the second connecting piece can press the first connecting end to the picking and placing device mounting position.

[0007] The steel bar picking and placing device of the present application is provided with a shock-absorbing body on the side connected to the robot body, and the shock-absorbing body is connected to the mounting base through the first connecting member, and the shock-absorbing body can be connected to the mounting position of the picking and placing device through the second connecting member, so that the steel bar picking and placing device is connected to the robot body through the shock-absorbing body. Since the first connecting member and the second connecting member are separated by the shock-absorbing body, under the action of the shock-absorbing body, the impact of the steel bar picking and placing device on the robot during operation can be effectively alleviated. Specifically, when the steel bar picking and placing component holds the steel bar product and performs operations such as shearing, the vibration and impact generated by the shearing will be buffered at the shock-absorbing body, which will greatly reduce the impact load transmitted to the robot, and thus can effectively alleviate the problems of alarm and shutdown of the robot caused by the impact. At the same time, it can reduce the damage to the robot caused by the impact load, and then can effectively improve the reliability and transportation efficiency of the robot that transports steel bar products, and to a certain extent improve the production efficiency of steel bar products.

[0008] In addition, the steel bar product picking and placing device according to the present application may also have the following additional technical features:

[0009] In some preferred embodiments of the present application, the first end of the first connecting member is passed through the first connecting end and the second connecting end in sequence and connected to the mounting base, and the second end of the first connecting member presses the shock absorber to the mounting base; and / or, the first end of the second connecting member is selectively passed through the second connecting end and out of the first connecting end, and the first end of the second connecting member is used to connect to the mounting position of the pick-and-place device, and the second end of the second connecting member can press the second connecting end to the mounting position of the pick-and-place device.

[0010] In some preferred embodiments of the present application, the shock absorber is provided with a first through hole and a second through hole that pass through the first connecting end and the second connecting end; the first end of the first connecting member passes through the first through hole by the first connecting end and is connected to the mounting base; the first end of the second connecting member passes through the second through hole by the second connecting end and is used to connect to the mounting position of the pick-and-place device.

[0011] In some preferred embodiments of the present application, the first connecting end is provided with a first groove extending toward the second connecting end, at least one first through hole extends from the first groove to the second connecting end, and the second end of the first connecting member is located in the first groove; and / or, the second connecting end is provided with a second groove extending toward the first connecting end, at least one second through hole extends from the second groove to the first connecting end, and the second end of the second connecting member is located in the second groove.

[0012] In some preferred embodiments of the present application, the steel product picking and placing device further includes a first gasket, which is adapted to the first groove, and the first gasket is provided with a first through hole corresponding to the first through hole, and the first end of the first connecting member passes through the first through hole and the first through hole in sequence and is connected to the mounting base, and the second end of the first connecting member presses the first gasket into the first groove; and / or, the steel product picking and placing device selectively further includes a second gasket, which is adapted to the second groove, and the second gasket is provided with a second through hole corresponding to the second through hole, and the first end of the second connecting member passes through the second through hole and the second through hole in sequence and passes out of the second through hole, and the second end of the second connecting member presses the second gasket into the second groove.

[0013] In some preferred embodiments of the present application, the first groove is located at the center of the first connecting end, at least two first through holes are provided in the first groove, and each first through hole corresponds to a first connecting member connecting the shock absorber and the mounting base; and / or, a plurality of second grooves are selectively arranged at intervals along the circumferential direction of the second connecting end, at least two second through holes are provided in each second groove, and each second through hole corresponds to a second connecting member for connecting the shock absorber and the mounting position of the pick-and-place device. Alternatively, a plurality of first grooves are spaced along the circumferential direction of the first connecting end, at least two first through holes are provided in each first groove, and each first through hole corresponds to a first connecting member for connecting the shock absorber and the mounting base; and / or, the second groove is selectively located at the center of the second connecting end, at least two second through holes are provided in the second groove, and each second through hole corresponds to a second connecting member for connecting the shock absorber and the mounting position of the pick-and-place device.

[0014] In some preferred embodiments of the present application, the mounting base includes a mounting beam, and the mounting beam is in an elongated strip shape as a whole; the shock absorbing body is connected to the middle portion of the mounting beam; and the steel bar picking and placing assembly is fixed on the mounting beam.

[0015] In some preferred embodiments of the present application, the steel bar product picking and placing device includes two steel bar picking and placing components; one steel bar picking and placing component is connected to one side of the middle of the mounting beam, and the other steel bar picking and placing component is connected to the other side of the middle of the mounting beam.

[0016] In some preferred embodiments of the present application, first mounting holes are provided on both sides of the middle portion of the mounting beam, and one of the steel bar picking and placing components is connected to the first mounting hole on one side through a connecting component to fix the steel bar picking and placing component on the mounting beam; another of the steel bar picking and placing components is connected to the first mounting hole on the other side through a connecting component to fix the other of the steel bar picking and placing components on the mounting beam through the connecting component; at least a portion of the first mounting holes is a long hole extending along the length direction of the mounting beam.

[0017] In some preferred embodiments of the present application, the rebar picking and placing assembly includes a rebar clamp and a connecting arm, the rebar clamp is used to clamp or release the rebar product; the rebar clamp is fixed to the connecting arm, and the connecting arm is connected to the first mounting hole through a connecting assembly; or, selectively, the rebar picking and placing assembly is a rebar clamp, the rebar clamp is used to clamp or release the rebar product, and the rebar clamp is connected to the first mounting hole through a connecting assembly.

[0018] In some preferred embodiments of the present application, the connecting arm is overall in the shape of an elongated strip, and a second mounting hole is provided on the connecting arm. The second mounting hole is a long hole extending along the length direction of the connecting arm, and the connecting arm is detachably connected to the mounting beam via a connecting component connecting the first mounting hole and the second mounting hole.

[0019] In some preferred embodiments of the present application, the steel bar clamp is a pneumatic clamp or a hydraulic clamp.

[0020] In some preferred embodiments of the present application, the mounting base further includes a connecting member, the connecting member includes a first flange, a second flange and a connecting structure, the connecting structure includes a first end and a second end opposite to the first end, the first flange is connected to the first end, and the second flange is connected to the second end; the shock absorbing body is connected to the first flange via the first connecting member, and the second flange is connected to the middle part of the mounting beam via a connecting assembly.

[0021] In the second aspect, the present solution also provides a robot for transporting steel bar products, wherein the robot is used to transport steel bar products from one location to another, and the robot comprises a robot body and a steel bar product picking and placing device as described in any of the aforementioned embodiments; an installation position for the picking and placing device is provided on the robot body, and the steel bar product picking and placing device is connected to the picking and placing device installation position via the second connecting member.

[0022] In the third aspect, the present solution also provides a steel bar product production system, which includes a steel bar bending machine and a robot for transferring steel bar products as described in any of the aforementioned embodiments; the steel bar bending machine is used to bend steel bars into a set shape; the robot is used to obtain steel bar products from the steel bar bending machine and transfer the steel bar products to a material storage area; or, selectively, the robot is used to obtain steel bar products from the steel bar bending machine and transfer the steel bar products to a steel bar product processing area. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The drawings constituting part of the present application are used to provide a further understanding of the present invention. The exemplary embodiments and descriptions of the present invention are used to explain the present invention and do not constitute an improper limitation on the present invention. Among them:

[0024] Figure 1 A schematic diagram of the structure of a robot for transporting steel products provided in this application;

[0025] Figure 2 A structural schematic diagram of a steel product picking and placing device provided in the present application from one perspective;

[0026] Figure 3 for Figure 2 A schematic structural diagram of the steel bar product picking and placing device from another perspective;

[0027] Figure 4 for Figure 2 An exploded view of the steel bar product handling device is shown;

[0028] Figure 5 A structural schematic diagram of a component provided by the present application including a first connecting member, a second connecting member and a shock absorbing body from one perspective;

[0029] Figure 6 for Figure 5 A schematic diagram of the structure of the components shown in another perspective;

[0030] Figure 7 A schematic diagram of the structure of a shock-absorbing body provided in this application;

[0031] Figure 8 A structural schematic diagram of a connecting member provided in the present application from one perspective;

[0032] Fig. 9 for Figure 8 A schematic structural diagram of the connecting member from another perspective;

[0033] Fig.10 This is a schematic diagram of the structure of a mounting beam provided in the present application, wherein the third connecting hole in the figure is a circular hole;

[0034] Fig.11 This is a schematic diagram of the structure of another mounting beam provided in the present application, in which the third connecting hole is a long hole.

[0035] In the figure: 1-mounting base; 2-rebar picking and placing assembly; 3-shock absorber; 4-first connecting member; 5-second connecting member; 6-first gasket; 7-second gasket; 8-robot body; 9-rebar product; 11-mounting beam; 12-connecting member; 111-first mounting hole; 112-third connecting hole; 113-weight reduction hole; 21-rebar clamp; 22-connecting arm; 31-first connecting end; 32-second connecting end; 33-first through hole; 34-second through hole; 121-first flange; 122-second flange; 123-connecting structure; 81-pick-and-place device installation position; 211-grip unit; 212-driving assembly; 221-second mounting hole; 311-first groove; 321-second groove; 1211-first connecting hole; 1221-second connecting hole. DETAILED DESCRIPTION

[0036] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments. Each example is provided by way of explanation of the present invention and does not limit the present invention. In fact, it will be clear to those skilled in the art that modifications and variations may be made in the present invention without departing from the scope or spirit of the present invention. For example, a feature shown or described as a part of one embodiment may be used in another embodiment to produce yet another embodiment. Therefore, it is desired that the present invention includes such modifications and variations within the scope of the appended claims and their equivalents.

[0037] In the description of the present invention, the terms "longitudinal", "lateral", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom" and the like indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and do not require that the present invention must be constructed and operated in a specific direction. Therefore, they cannot be understood as limitations on the present invention. The terms "connected", "connected" and "set" used in the present invention should be understood in a broad sense. For example, they can be fixedly connected or detachably connected; they can be directly connected or indirectly connected through an intermediate component. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0038] It should be noted that, in the present application, "above a certain value" includes the number itself, for example, "above six" includes six.

[0039] The present application provides a steel product picking and placing device, a robot and a steel product production system. Figures 1 to 11Describe it in detail.

[0040] Specific reference Figure 2 , Figure 3 and Figure 4 As shown, the present application provides a steel product picking and placing device, which is used for a robot (such as Figure 1 As shown in the figure, the steel bar product picking and placing device comprises a mounting base 1, a steel bar picking and placing assembly 2, a shock absorbing body 3, a first connecting member 4 and a second connecting member 5. Specifically, the steel bar picking and placing assembly 2 is fixed on the mounting base 1, and the steel bar picking and placing assembly 2 is used to obtain or release the steel bar product 9.

[0041] It should be pointed out that the steel product 9 in the present application is not specifically limited, and it can be any steel product 9 that needs to be transported; in specific implementation, the steel product 9 can be stirrups, hook bars and other steel products.

[0042] It should be noted that the structure of the "installation base" in the present application is not specifically limited, and it can be any structure that meets the installation requirements of the steel bar picking and placing assembly 2 and the shock absorbing body 3. In specific implementation, such as Figures 2 to 4 As shown, the mounting base 1 can selectively include a mounting beam 11 which is in an elongated strip shape as a whole.

[0043] It should be noted that the "rebar picking and placing assembly" in this application is not specifically limited, and it can be any assembly that meets the requirements of obtaining and releasing the steel products. In specific implementation, the steel bar picking and placing assembly 2 can be selectively made into a pneumatic clamp or a hydraulic clamp.

[0044] It should also be noted that the structure, size and material of the "shock absorber" in this application are not specifically limited, and it can be any structure that can alleviate the load impact. In specific implementation, the shock absorber 3 can be selectively made into a columnar structure, a block structure or a plate structure. Figures 1 to 7 As shown, the shock absorber 3 is a cylindrical structure as a whole. In addition, the thickness of the shock absorber 3 in the connection direction is not specifically limited. In specific implementation, the thickness of the shock absorber 3 can be selectively set to any value between 25mm and 90mm, for example, the thickness of the shock absorber 3 is 25mm, 30mm, 35mm, 40mm, 45mm, 50mm, 55mm, 60mm, 65mm, 70mm, 75mm, 80mm, 85mm or 90mm. It should also be pointed out that the thickness of the shock absorber 3 is not limited to the thickness values ​​listed above, and it can be any value between 25mm and 90mm, for example, the thickness of the shock absorber 3 can also be 36mm, etc.

[0045] As for the material of the shock absorbing body 3, there is no specific limitation. In specific implementation, the shock absorbing body 3 can be selectively made of polyurethane, rubber and other materials.

[0046] As some preferred embodiments of the present application, the shock absorber 3 is made of a polyurethane material with a hardness of 30-90 degrees Shore A, and the shock absorber 3 is a cylindrical structure, and the axis of the cylindrical structure is roughly parallel to the connection direction of the mounting base 1, the shock absorber 3 and the mounting position 81 of the pick-and-place device, and the thickness dimension of the cylindrical structure in the axis direction can be specifically 40 mm, and the material of the cylinder can be selected as polyurethane with a hardness of 60 degrees Shore A.

[0047] As some preferred embodiments of the present application, Figures 2 to 4 As shown, in the length direction of the mounting beam 11, the shock absorber 3 is installed and connected to the middle part of the mounting beam 11, and the shock absorber 3 is located on one side of the mounting beam 11, and the steel bar picking and placing assembly 2 is fixed on the mounting beam 11 and arranged on the side of the mounting beam 11 away from the shock absorber 3. In the specific implementation, the robot body 8 is provided with a picking and placing device installation position 81, and the mounting base 1 needs to be installed at the picking and placing device installation position 81 of the robot body 8, so that the robot body 8 can drive the steel bar picking and placing assembly 2 to move, so that the steel bar picking and placing assembly 2 can obtain and complete the transportation of the steel bar product 9.

[0048] As some preferred embodiments of the present application, the shock absorber 3 is connected to the mounting base 1 through the first connecting member 4, and the first connecting member 4 presses the second connecting end 32 to the mounting base 1; a pick-and-place device mounting position 81 is provided on the robot body 8, and the shock absorber 3 can be connected to the pick-and-place device mounting position 81 through the second connecting member 5, and the second connecting member 5 can press the first connecting end 31 to the pick-and-place device mounting position 81.

[0049] It should be noted that the first connecting member 4 in the present application is not specifically limited, and it can be any connecting member that can connect the shock absorber 3 to the mounting base 1. In specific implementation, the first connecting member 4 can be selectively a connecting member such as a bolt, a screw, a rivet, or a special-shaped connecting member. Figures 2 to 4 As shown, the first connecting member 4 is a screw, a threaded hole matching the first connecting member 4 is provided on the mounting base 1, and the shock absorber 3 is fixed to the mounting base 1 through a plurality of first connecting members 4. As a convertible preferred embodiment, the first connecting member 4 can also be selectively made into a bolt, a mounting hole matching the first connecting member 4 is provided on the first mounting base 1, and the shock absorber 3 is fixedly connected to the mounting base 1 through a plurality of bolt and nut assemblies.

[0050] It should also be noted that the second connecting member 5 in the present application is not specifically limited, and it can be any connecting member that can connect the shock absorber 3 to the mounting position 81 of the pick-and-place device. In specific implementation, the second connecting member 5 can be selectively a connecting member such as a bolt, a screw, a rivet, or a special-shaped connecting member. As a preferred embodiment, Figures 2 to 4 As shown, the second connecting member 5 is a screw, a threaded hole matching the second connecting member 5 is provided on the pick-and-place device installation position 81, and the shock absorber 3 is connected to the pick-and-place device installation position 81 through a plurality of second connecting members 5. As a convertible preferred embodiment, the second connecting member 5 can also be selectively made into a bolt, a mounting hole matching the first connecting member 4 is provided on the pick-and-place device installation position 81, and the shock absorber 3 can be connected to the pick-and-place device installation position 81 through a plurality of sets of bolt and nut assemblies.

[0051] The steel bar picking and placing device of the present application is provided with a shock absorbing body 3 on the side connected to the robot body 8, and the shock absorbing body 3 is connected to the mounting base 1 through the first connecting member 4, and the shock absorbing body 3 can be connected to the picking and placing device installation position 81 through the second connecting member 5, so that the steel bar picking and placing device is connected to the robot through the shock absorbing body 3. Since the first connecting member 4 and the second connecting member 5 are separated by the shock absorbing body 3, the steel bar picking and placing device and the robot body 8 are connected in a non-rigid manner; under the action of the shock absorbing body 3, the impact of the impact load of the steel bar picking and placing device on the robot during the working process can be effectively alleviated. Specifically, when the steel bar picking and placing component 2 is in the state of holding the steel bar 9 and performing the shearing operation, the vibration and impact generated by the shearing will be buffered at the shock absorbing body 3, which will greatly reduce the impact load transmitted to the robot body 8, and can effectively solve the problems of alarm and shutdown caused by the impact of the robot. At the same time, it can reduce the damage to the robot caused by the impact load, and then effectively improve the reliability and transportation efficiency of the robot that transports the steel bar 9, and improve the production efficiency of the steel bar 9 to a certain extent.

[0052] As some preferred embodiments of the present application, the first end of the first connecting member 4 can be further selectively passed through the first connecting end 31 and the second connecting end 32 in sequence and connected to the mounting base 1, and the second end of the first connecting member 4 presses the shock absorber 3 to the mounting base 1. In specific implementation, preferably, the shock absorber 3 is provided with a first through hole 33 that passes through the first connecting end 31 and the second connecting end 32; the first end of the first connecting member 4 passes through the first through hole 33 from the first connecting end 31 and is connected to the mounting base 1. Specifically, as Figures 3 to 7As shown, a plurality of first through holes 33 are provided on the shock absorbing body 3, and each first through hole 33 is provided with a corresponding first connecting member 4 connected to the mounting base 1. As a convertible embodiment, the first through hole 33 may be selectively not provided on the shock absorbing body 3, and the first through hole 33 may be formed under the action of the first connecting member 4 during the installation process of the shock absorbing body 3.

[0053] As a convertible embodiment, the first connecting member 4 can also selectively include a clamping portion that can be clamped with the first connecting end 31 and a connecting portion that can be connected to the mounting base 1. For example, the first connecting member 4 can be formed by bending a slat or the like, and the two ends of the slat are bent in the same direction. During the installation process, the two ends of the first connecting member 4 are the connecting portions and are connected to the mounting base 1, and the middle part of the first connecting member 4 is the clamping portion that is clamped with the shock absorber 3. In order to avoid a rigid connection between the first connecting member 4 and the robot body 8, a clearance area that is compatible with the first connecting member 4 can be further provided at the first connecting end of the shock absorber 3, so that the middle part of the first connecting member is located in the clearance area. In this case, it is not necessary to provide the first through hole 33 on the shock absorber 3.

[0054] It should be noted that the positions and number of the first through holes 33 provided on the shock absorbing body 3 are not specifically limited, and they can be selectively arranged and configured according to actual installation requirements. Figure 5 As shown, four first through holes 33 are provided on the shock absorbing body 3. As a convertible embodiment, one, two, three, five or more than six first through holes 33 can also be selectively provided on the shock absorbing body 3.

[0055] As some preferred embodiments of the present application, it is further preferred that the first connection end 31 is provided with a first groove 311 extending toward the second connection end 32, at least one first through hole 33 extends from the first groove 311 to the second connection end 32, and the second end of the first connection member 4 is located in the first groove 311. In specific implementation, the first groove 311 can be selectively located at the center of the first connection end 31 (such as Figure 5 As shown in the figure, at least two first through holes 33 are provided in the first groove 311, and each first through hole 33 corresponds to a first connecting member 4 for connecting the shock absorber 3 and the mounting base 1. As a convertible embodiment, multiple first grooves 311 can be selectively arranged at intervals along the circumferential direction of the first connecting end 31 (not shown in the figure), and at least two first through holes 33 are provided in each first groove 311, and each first through hole 33 corresponds to a first connecting member 4 for connecting the shock absorber 3 and the mounting base 1.

[0056] It should be further explained that the number of the first grooves 311 provided at the first connection end 31 is not specifically limited in the present application. In a specific implementation, the number of the first grooves 311 provided at the first connection end 31 can be selectively one, two, three, four, five or more than six. It should be further explained that the number and distribution of the first through holes 33 extending from the first grooves 311 to the second connection end 32 are not specifically limited in the present application. They can be selectively provided according to actual needs. Figure 5 As shown, a first groove 311 is provided at the center of the first connection end 31, and the first groove 311 is triangular in shape as a whole, and the number of first through holes 33 extending from the first groove 311 to the second connection end 32 is four, and the four first through holes 33 are evenly distributed according to the shape of the first groove 311. The present application provides the first groove 311 and positions the second end of the first connection member 4 in the first groove 311, thereby preventing the first connection member 4 from having a rigid contact with the robot, thereby ensuring that the shock absorbing body 3 can play a better shock absorbing role.

[0057] As some preferred embodiments of the present application, the steel product picking and placing device can further selectively include a first gasket 6, which is adapted to the first groove 311. The first gasket 6 is provided with a first through hole corresponding to the first through hole 33. The first end of the first connecting member 4 passes through the first through hole and the first through hole 33 in sequence and is connected to the mounting base 1. The second end of the first connecting member 4 presses the first gasket 6 into the first groove 311.

[0058] It should be noted that the shape of the first gasket 6 in the present application is not specifically limited, and it can be adapted according to the shape of the first groove 311. It should also be noted that the number of first vias provided on the first gasket 6 is not specifically limited, and it can be selectively provided according to actual needs. Figure 5 As shown, the first gasket 6 is matched with the first groove 311 and is also arranged in a triangle shape as a whole; and the first gasket 6 is provided with first through holes corresponding to the first through holes 33 one by one.

[0059] The present application makes the steel product picking and placing device include a first gasket 6, so that during the connection process of the first connecting member 4, the force generated by the first connecting member 4 can be evenly dispersed through the first gasket 6, thereby preventing the first connecting member 4 from directly generating a concentrated force on the shock-absorbing body 3, thereby improving the stress condition of the shock-absorbing body 3 and increasing the service life of the shock-absorbing body 3.

[0060] As some preferred embodiments of the present application, the first end of the second connector 5 can be further selectively passed through the second connector 32 and passed through the first connector 31, and the first end of the second connector 5 is used to connect to the pick-and-place device installation position 81, and the second end of the second connector 5 can press the second connector 32 to the pick-and-place device installation position 81. In specific implementation, it is preferred that the shock absorber 3 is provided with a second through hole 34 that passes through the first connection end 31 and the second connection end 32; the first end of the first connector 4 passes through the first through hole 33 from the first connection end 31 and is connected to the installation base 1; the first end of the second connector 5 passes through the second through hole 34 from the second connection end 32 and is used to connect to the pick-and-place device installation position 81. Specifically, as Figures 3 to 7 As shown, the shock absorbing body 3 is provided with a plurality of second through holes 34, and each second through hole 34 is provided with a second connecting member 5 that can be connected to the mounting position 81 of the pick-and-place device. As a convertible embodiment, the shock absorbing body 3 may be selectively not provided with the second through hole 34, and the second through hole 34 may be formed under the action of the second connecting member 5 during the installation process of the shock absorbing body 3. Alternatively, the second connecting member 5 may also be provided as a structural member formed by bending a slat as mentioned in some of the aforementioned embodiments.

[0061] It should be noted that the positions and number of the second through holes 34 provided on the shock absorbing body 3 are not specifically limited, and they can be selectively arranged and provided according to actual installation requirements. Figure 5 and Figure 6 As shown, six second through holes 34 are provided on the shock absorbing body 3. As a convertible embodiment, one, two, three, five or more than six second through holes 34 can also be selectively provided on the shock absorbing body 3.

[0062] As some preferred embodiments of the present application, the second connection end 32 is further selectively provided with a second groove 321 extending toward the first connection end 31, at least one second through hole 34 extends from the second groove 321 to the first connection end 31, and the second end of the second connection member 5 is located in the second groove 321. In specific implementation, the second connection end 32 can be selectively provided with a plurality of second grooves 321 (such as Figure 5 and Figure 6 As shown in the figure), a plurality of second grooves 321 are arranged at intervals along the circumferential direction of the second connection end 32, at least two second through holes 34 are arranged in each second groove 321, and each second through hole 34 corresponds to a second connection member 5 for connecting the shock absorber 3 and the installation position 81 of the pick-and-place device. As a convertible embodiment, the second groove 321 can also be selectively located at the center of the second connection end 32 (not shown in the figure), at least two second through holes 34 are arranged at the second groove 321, and each second through hole 34 corresponds to a second connection member 5 for connecting the shock absorber 3 and the installation position 81 of the pick-and-place device.

[0063] It should be pointed out that the number of the second grooves 321 provided at the second connection end 32 is not specifically limited in the present application. In a specific implementation, the number of the second grooves 321 provided at the second connection end 32 can be selectively one, two, three, four, five or more than six. It should also be further explained that the number and distribution of the second through holes 34 extending from the second grooves 321 to the first connection end 31 are not specifically limited in the present application, and can be selectively provided according to actual needs. Figure 5 , Figure 6 and Figure 7 As shown, three second grooves 321 are provided at the circumferential position of the second connection end 32, and the second grooves 321 are in an arc shape as a whole. The number of second through holes 34 extending from the second grooves 321 to the first connection end 31 is two, and the plurality of second through holes 34 are evenly arranged along the circumferential direction. The present application provides the second grooves 321, and the second end of the second connection member 5 is located in the second grooves 321, thereby avoiding rigid contact between the second connection member 5 and the mounting base 1, so as to ensure that the shock absorbing body 3 can play a better shock absorbing role.

[0064] As some preferred embodiments of the present application, the steel product picking and placing device can further selectively include a second gasket 7, which is adapted to the second groove 321. The second gasket 7 is provided with a second through hole corresponding to the second through hole 34. The first end of the second connecting member 5 passes through the second through hole and the second through hole 34 in sequence and comes out of the second through hole 34. The second end of the second connecting member 5 presses the second gasket 7 into the second groove 321.

[0065] It should be noted that the shape of the second gasket 7 of the present application is not specifically limited, and it can be adapted according to the shape of the second groove 321. It should also be noted that the number of second vias provided on the second gasket 7 is not specifically limited, and it can be selectively provided according to actual needs. Figure 4 and Figure 6 As shown, the second gasket 7 is matched with the second groove 321 and is also in an arc-shaped structure as a whole; and the second gasket 7 is provided with second through holes corresponding to the two second through holes 34 extending from each second groove 321 .

[0066] The present application enables the steel product picking and placing device to include a second gasket 7, so that during the connection process of the second connecting member 5, the force generated by the second connecting member 5 can be evenly dispersed through the second gasket 7, thereby avoiding the generation of concentrated force on the shock-absorbing body 3, thereby improving the stress condition of the shock-absorbing body 3 and further increasing the service life of the shock-absorbing body 3.

[0067] As some preferred embodiments of the present application, Figure 2 , Figure 3 , Fig.10 and Fig.11 As shown, the mounting base 1 further selectively includes a mounting beam 11 , which is in an elongated shape as a whole; the shock absorbing body 3 is connected to the middle part of the mounting beam 11 ; and the steel bar picking and placing assembly 2 is fixed on the mounting beam 11 .

[0068] It should be noted that the installation beam 11 in the present application is not specifically limited, and it can be any beam body that meets the installation requirements of the steel bar picking and placing component 2. In specific implementation, such as Figures 2 to 4 As shown, the mounting beam 11 is a structure made of square steel pipe. In order to reduce the weight of the mounting beam 11, a plurality of weight-reducing holes 113 are provided on the mounting beam 11. In order to facilitate the installation of the steel bar picking and placing assembly 2, a process hole for installation can be further selectively provided on the mounting beam 11. As a convertible embodiment, the mounting beam 11 can also be selectively made of aluminum alloy profiles.

[0069] As some preferred embodiments of the present application, the steel bar product picking and placing device further selectively includes two steel bar picking and placing components 2; one steel bar picking and placing component 2 is connected to one side of the middle of the mounting beam 11, and the other steel bar picking and placing component 2 is connected to the other side of the middle of the mounting beam 11. In specific implementation, Figures 2 to 4 As shown, first mounting holes 111 are provided on both sides of the middle of the mounting beam 11, and a steel bar picking and placing assembly 2 is connected to the first mounting hole 111 on one side through a connecting assembly to fix the steel bar picking and placing assembly 2 on the mounting beam 11; another steel bar picking and placing assembly 2 is connected to the first mounting hole 111 on the other side through a connecting assembly to fix the other steel bar picking and placing assembly 2 on the mounting beam 11 through the connecting assembly.

[0070] In a specific implementation, at least a portion of the first mounting hole 111 may be selectively formed into a long hole extending along the length direction of the mounting beam 11. Figure 4 As shown in FIG. 1 , the first mounting holes 111 provided on the mounting beam 11 are all long holes extending along the length direction of the mounting beam 11, so that the distance between the two steel bar picking and placing components 2 can be adjusted according to actual needs. In addition, the relative position between the two steel bar picking and placing components 2 can also be adjusted. For details, please refer to Figure 2 , one of the two steel bar picking and placing components 2 is rotated 90° relative to the installation position, so that the steel bar picking and placing device can better grip the two sides of the stirrup, thereby achieving a better clamping and transportation effect.

[0071] As some preferred embodiments of the present application, the steel bar picking and placing assembly 2 further selectively includes a steel bar clamp 21 and a connecting arm 22, the steel bar clamp 21 is used to clamp or release the steel bar product 9; the steel bar clamp 21 is fixed on the connecting arm 22, and the connecting arm 22 is connected to the first mounting hole 111 through a connecting assembly. As some convertible embodiments of the present application, the steel bar picking and placing assembly 2 can also be selectively made into a steel bar clamp 21, the steel bar clamp 21 is used to clamp or release the steel bar product 9, and the steel bar clamp 21 is connected to the first mounting hole 111 through a connecting assembly.

[0072] It should be pointed out that the structure of the connecting arm 22 of the present application is not specifically limited. It can be any structure that can connect the steel bar clamp 21 to the mounting beam 11. In specific implementation, the position of the steel bar clamp 21 can be adjusted by adjusting the size and installation position of the connecting arm 22.

[0073] As a preferred embodiment under the aforementioned implementation, the connecting arm 22 is further made to be in an elongated shape as a whole, and a second mounting hole 221 is provided on the connecting arm 22. The second mounting hole 221 is a long hole extending along the length direction of the connecting arm 22. The connecting arm 22 is detachably connected to the mounting beam 11 through a connecting assembly connecting the first mounting hole 111 and the second mounting hole 221. In the present application, by making the second mounting hole 221 a long hole extending along the length direction of the connecting arm 22, the mounting arm can adjust its mounting position in the length direction of the second mounting hole 221, so that the steel bar product picking and placing device has better adjustment performance.

[0074] It should be noted that the steel bar clamp 21 in the present application is not specifically limited, and it can be any unit that meets the requirements of clamping the corresponding steel bar product. Figure 2 As shown, the steel bar clamp 21 includes a clamping jaw unit 211 and a driving assembly 212 for driving the clamping jaw unit 211 to move, wherein the steel bar clamp 21 can be a pneumatic clamp or a hydraulic clamp, which has stable clamping, and the clamping jaw moves quickly and accurately, which is conducive to improving work efficiency. The steel bar clamp 21 can also be driven by other means, such as a motor-driven screw slider module, or a motor-driven gear rack module, which is not limited in this embodiment.

[0075] As some preferred embodiments of the present application, the steel bar clamp 21 is further selectively made into a pneumatic clamp or a hydraulic clamp. Preferably, the steel bar clamp 21 is further selectively made into a pneumatic clamp, and the pneumatic clamp is connected to the pressure gas source gas circuit through a control valve. The control valve is further controlled by the control unit to clamp or release the steel bar product 9. When the steel bar clamp 21 is a hydraulic clamp, the hydraulic clamp is connected to the hydraulic source oil circuit through a control valve and a hydraulic pump; and the control valve is further controlled by the control unit to clamp or release the steel bar product 9.

[0076] As some preferred embodiments of the present application, Figures 2 to 4 , Figure 8 and Fig. 9 As shown, the mounting base 1 may further include a connecting member 12, the connecting member 12 includes a first flange 121, a second flange 122 and a connecting structure 123, the connecting structure 123 includes a first end and a second end opposite to the first end, the first flange 121 is connected to the first end, and the second flange 122 is connected to the second end; the shock absorbing body 3 is connected to the first flange 121 via the first connecting member 4, and the second flange 122 is connected to the middle part of the mounting beam 11 via the connecting assembly.

[0077] In specific implementation, Figure 8 and Fig. 9 As shown, the first flange 121 is provided with a first connection hole 1211, and the first connection hole 1211 is used to connect with the first connection member 4. The first connection hole 1211 can be an internal threaded hole or a through hole with a smooth inner wall; the second flange 122 is connected to the middle part of the mounting beam 11 through a connection assembly, and the second flange 122 is provided with a second connection hole 1221, and the middle part of the mounting beam 11 is provided with a third connection hole 112 opposite to the second connection hole 1221. The connection assembly can realize the fixed connection between the second flange 122 and the mounting beam 11 through the second connection hole 1221 and the third connection hole 112. Specifically, refer to Figure 3 ,like Fig.10 and Fig.11 As shown, the third connection hole 112 may be a circular hole, or may be a strip-shaped long hole extending along the length direction of the mounting beam 11 .

[0078] In a specific implementation, a third connection hole 112 can be selectively provided in the middle of the mounting beam 11, and the connecting member 12 can be connected to the third connection hole 112 of the mounting beam 11 through bolts, screws or bolt-nut assemblies. Fig.10 As shown, the third connection hole 112 is a circular hole. As a convertible embodiment, Fig.11 As shown, the third connection hole 112 is a long hole, so that the connection position between the mounting beam 11 and the connection member 12 can be adjusted to better meet the adjustment requirements of the steel product picking and placing device.

[0079] It should be noted that the connection assembly in the present application can selectively be a connection assembly including bolts and nuts, or a connection assembly including screws and washers, etc. When the connection hole is a long hole, it is preferred that the connection member is a connection assembly including bolts, nuts, washers (spring washers and / or flat washers).

[0080] The present application also provides a robot for transporting steel bar products, the robot is used to transport steel bar products 9 from one location to another location, the robot includes a robot body 8 and a steel bar product picking and placing device provided by any of the aforementioned embodiments; a picking and placing device installation position 81 is provided on the robot body 8, and the steel bar product picking and placing device is connected to the picking and placing device installation position 81 via a second connecting member 5.

[0081] The present application also provides a steel product production system, which includes a steel bending machine and a robot for transferring steel products 9 as provided in any of the above embodiments; the steel bending machine is used to bend steel bars into a set shape; the robot is used to obtain steel products 9 from the steel bending machine and transfer the steel products 9 to a material storage area. For example, when the steel products 9 produced are hook bars, the robot obtains the hook bars from the steel bending machine and transfers them to a material storage area.

[0082] As some convertible embodiments of the present application, the robot is selectively used to obtain the steel bar product 9 from the steel bar bending machine and transfer the steel bar product 9 to the steel bar product 9 processing area. For example, when the steel bar product 9 produced is a stirrup, the robot can be further used to transfer the stirrup to the welding workbench to facilitate the next processing step of the stirrup.

[0083] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A steel product picking and placing device, characterized in that: The steel bar product picking and placing device is used for a robot that transfers steel bar products. The steel bar product picking and placing device comprises: Install the substrate; A steel bar picking and placing assembly, the steel bar picking and placing assembly is used to obtain or release steel bar products, and the steel bar picking and placing assembly is fixed on the mounting base; a shock absorbing body, the shock absorbing body comprising a first connecting end and a second connecting end, the first connecting end being opposite to the second connecting end; and A first connecting member and a second connecting member, the shock absorbing body is connected to the mounting base through the first connecting member, and the first connecting member presses the second connecting end to the mounting base; a pick-and-place device mounting position is provided on the robot, the shock absorbing body can be connected to the pick-and-place device mounting position through the second connecting member, and the second connecting member can press the first connecting end to the pick-and-place device mounting position.

2. The steel product taking and placing device according to claim 1, characterized in that: The first end of the first connecting member passes through the first connecting end and the second connecting end in sequence and is connected to the mounting base, and the second end of the first connecting member presses the shock absorbing body to the mounting base; and / or, The first end of the second connecting member passes through the second connecting end and passes through the first connecting end, and the first end of the second connecting member is used to connect to the installation position of the pick-and-place device, and the second end of the second connecting member can press the second connecting end to the installation position of the pick-and-place device.

3. The steel bar product taking and placing device according to claim 2, characterized in that: The shock absorber is provided with a first through hole and a second through hole that pass through the first connecting end and the second connecting end; the first end of the first connecting member passes through the first through hole from the first connecting end and is connected to the mounting base; the first end of the second connecting member passes through the second through hole from the second connecting end and is used to be connected to the mounting position of the pick-and-place device.

4. The steel bar product taking and placing device according to claim 3, characterized in that: A first groove extending toward the second connecting end is provided on the first connecting end, at least one of the first through holes extends from the first groove to the second connecting end, and the second end of the first connecting member is located in the first groove; and / or, The second connecting end is provided with a second groove extending toward the first connecting end, at least one of the second through holes extends from the second groove to the first connecting end, and the second end of the second connecting member is located in the second groove.

5. The steel bar product taking and placing device according to claim 4, characterized in that: The steel bar product taking and placing device further includes a first gasket, the first gasket is adapted to the first groove, the first gasket is provided with a first through hole corresponding to the first through hole, the first end of the first connecting member passes through the first through hole and the first through hole in sequence and is connected to the mounting base, and the second end of the first connecting member presses the first gasket into the first groove; and / or, The steel bar product picking and placing device also includes a second gasket, which is adapted to the second groove. The second gasket is provided with a second through hole corresponding to the second through hole. The first end of the second connecting member passes through the second through hole and the second through hole in sequence and passes out from the second through hole. The second end of the second connecting member presses the second gasket into the second groove.

6. The steel bar product taking and placing device according to claim 4, characterized in that: The first groove is located at the center of the first connecting end, and at least two first through holes are provided in the first groove, and each of the first through holes corresponds to a first connecting member connecting the shock absorbing body and the mounting base; and / or, a plurality of second grooves are arranged at intervals along the circumferential direction of the second connecting end, and at least two second through holes are provided in each of the second grooves, and each of the second through holes corresponds to a second connecting member for connecting the shock absorbing body and the mounting position of the pick-and-place device; or, A plurality of first grooves are arranged at intervals along the circumferential direction of the first connecting end, and at least two first through holes are provided in each of the first grooves, and each of the first through holes corresponds to a first connecting member for connecting the shock absorbing body and the mounting base; and / or, the second groove is located at the center position of the second connecting end, and at least two second through holes are provided in the second groove, and each of the second through holes corresponds to a second connecting member for connecting the shock absorbing body and the mounting position of the pick-and-place device.

7. The steel bar product taking and placing device according to any one of claims 1 to 6, characterized in that: The mounting base comprises: The mounting beam is in the shape of an elongated strip as a whole; the shock absorbing body is connected to the middle part of the mounting beam; and the steel bar picking and placing assembly is fixed on the mounting beam.

8. The steel bar product taking and placing device according to claim 7, characterized in that: The steel bar product picking and placing device comprises two steel bar picking and placing components; one steel bar picking and placing component is connected to one side of the middle part of the mounting beam, and the other steel bar picking and placing component is connected to the other side of the middle part of the mounting beam.

9. The steel bar product taking and placing device according to claim 8, characterized in that: First mounting holes are provided on both sides of the middle of the mounting beam, and one of the steel bar picking and placing components is connected to the first mounting hole on one side through a connecting component to fix the steel bar picking and placing component on the mounting beam; another of the steel bar picking and placing components is connected to the first mounting hole on the other side through a connecting component to fix the other of the steel bar picking and placing components on the mounting beam through the connecting component; At least a portion of the first mounting holes is a long hole extending along the length direction of the mounting beam.

10. The steel bar product taking and placing device according to claim 9, characterized in that: The steel bar picking and placing assembly comprises a steel bar clamp and a connecting arm, wherein the steel bar clamp is used to clamp or release the steel bar product; the steel bar clamp is fixed on the connecting arm, and the connecting arm is connected to the first mounting hole through the connecting assembly; or, The steel bar picking and placing component is a steel bar clamp, which is used to clamp or release steel bar products. The steel bar clamp is connected to the first mounting hole through a connecting component.

11. The steel bar product taking and placing device according to claim 10, characterized in that: The connecting arm is in an elongated shape as a whole, and is provided with a second mounting hole, which is a long hole extending along the length direction of the connecting arm. The connecting arm is detachably connected to the mounting beam via a connecting component connecting the first mounting hole and the second mounting hole.

12. The steel product taking and placing device according to claim 10 or 11, characterized in that: The steel bar clamp is a pneumatic clamp or a hydraulic clamp.

13. The steel bar product taking and placing device according to any one of claims 8 to 11, characterized in that: The mounting base further comprises a connecting member, wherein the connecting member comprises: First flange; a second flange; and A connecting structure, the connecting structure comprising a first end and a second end opposite to the first end, the first flange being connected to the first end, and the second flange being connected to the second end; The shock absorbing body is connected to the first flange via the first connecting member, and the second flange is connected to the middle part of the mounting beam via a connecting assembly.

14. A robot for transporting steel products, characterized in that: The robot is used to transfer a steel bar product from one location to another location, and the robot comprises: The robot body; and The steel product picking and placing device as described in any one of claims 1 to 13; the robot body is provided with a mounting position for the picking and placing device, and the steel product picking and placing device is connected to the mounting position for the picking and placing device via a second connecting member.

15. A steel product production system, characterized in that: The steel bar product production system comprises: A steel bar bending machine, which is used to bend steel bars into a set shape; and The robot for transferring steel bar products as claimed in claim 14; The robot is used to obtain steel products from the steel bending machine and transfer the steel products to a material storage area; alternatively, the robot is used to obtain steel products from the steel bending machine and transfer the steel products to a steel product processing area.

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