Sorting system for steel bar production line

Abstract

The utility model relates to the technical field of steel bar sorting, in particular to a sorting system for a steel bar production line. The sorting system comprises a temporary storage part, a sorting part and a plurality of loading parts which are arranged in rows, and the temporary storage part, the sorting part and the plurality of loading parts are sequentially arranged on the side of the steel bar production line at intervals according to the sequence from near to far from the production line; the temporary storage part is used for storing steel bars produced by a production line, the sorting part comprises a sorting mechanical arm and a first guide rail, the first guide rail is arranged on a base plane, the sorting mechanical arm is slidably connected to the first guide rail, and the sorting mechanical arm has a clamping state for clamping the steel bars and an opening state for loosening the steel bars; the sorting mechanical arm can grab and convey the steel bars stored in the temporary storage part located on one side of the sorting mechanical arm to any loading part on the opposite side. Due to the improvement of the sorting efficiency, the sorting system is favorable for optimizing the productivity of the whole production line, reducing the waiting time and improving the production takt time.

Description

Technical Field

[0001] The utility model relates to the technical field of steel bar sorting, in particular to a sorting system for a steel bar production line. Background Art

[0002] With the continuous acceleration of the modern industrialization process, the processing and handling of steel bars in the construction industry are facing unprecedented pressure for change. In modern large-scale construction projects, steel bars are an indispensable basic building material, and their production process and sorting efficiency directly affect the overall construction progress and project quality. In the steel bar production process, although the steel bars themselves are "finished products" formed through a series of processing procedures, before they are actually used or delivered to customers, they often need to be classified and sorted according to specifications, lengths, grades, etc. This is sorting, so sorting can be regarded as the last process of the steel bar production line.

[0003] Since traditional steel bar sorting methods mainly rely on manual operations, there are many limitations, such as high labor intensity, slow speed, frequent sorting errors caused by human factors, and safety hazards caused by worker fatigue under high-intensity and long-term working conditions. Utility Model Content

[0004] 1. Technical issues to be resolved

[0005] In view of the above-mentioned shortcomings and deficiencies of the prior art, the utility model provides a sorting system for a steel bar production line, which solves the technical problem of low efficiency in steel bar sorting.

[0006] (II) Technical solution

[0007] In order to achieve the above-mentioned purpose, the main technical solutions adopted by the utility model include:

[0008] A sorting system for a steel bar production line, the sorting system comprising a temporary storage part, a sorting part and a plurality of loading parts arranged in a row, the temporary storage part, the sorting part and the plurality of loading parts being arranged in sequence and at intervals on the sides of the steel bar production line in the order of distance from the production line from near to far; the temporary storage part stores the steel bars produced by the production line, the sorting part comprises a sorting mechanical arm and a first guide rail, the first guide rail being arranged on a base surface, the sorting mechanical arm being slidably connected to the first guide rail, the sorting mechanical arm having a clamping state for clamping the steel bars and an opening state for releasing the steel bars, the sorting mechanical arm being able to grab the steel bars stored in the temporary storage part on one side thereof and deliver them to any loading part on the opposite side.

[0009] Optionally, the sorting robot arm includes a main body mechanism and an end effector, the main body mechanism is a multi-axis manipulator, the end effector is a steel clamp, one end of the multi-axis manipulator is slidably connected to the first guide rail, and the other end of the multi-axis manipulator is rotatably connected to the steel clamp.

[0010] Optionally, the multi-axis manipulator includes a first slide, a turntable base, a main manipulator arm, a secondary manipulator arm, a joint assembly, a manipulator wrist, a hand gripper arm and a rotating flange, the first slide is slidably mounted on the first guide rail and can move along the length direction of the first guide rail, the turntable base can be rotatably mounted in the middle of the first slide, the main manipulator arm is mounted on the upper part of the turntable base, and the upper part of the turntable base is equipped with a first motor, and the main manipulator arm is driven to swing upward by the first motor;

[0011] The upper end of the main robotic arm is movably connected to the auxiliary robotic arm through a joint assembly. The joint assembly is equipped with a second motor located at the lower part thereof. The second motor is in transmission connection with the auxiliary robotic arm. The auxiliary robotic arm is controlled to swing upward by the second motor. The amplitude of the auxiliary robotic arm's swing upward is greater than that of the main robotic arm. The joint assembly is also equipped with a third motor located at the upper part thereof. The third motor is in transmission connection with the auxiliary robotic arm. The third motor drives the auxiliary robotic arm to rotate with its own rotation axis as the center line.

[0012] The front end of the auxiliary mechanical arm is detachably connected to the mechanical wrist, and the inner wall of the front end of the mechanical wrist is rotatably connected to a hand gripping arm, which is rotatably connected to a steel bar clamping claw through a rotating flange at its front end.

[0013] Optionally, a counterweight motor is also configured on the turntable base, and a telescopic rod at the front end of the counterweight motor is hinged to the lower end of the main robotic arm, and the hinge axis is perpendicular to the direction of the telescopic rod.

[0014] Optionally, a rotating motor and a positioning piece are also installed on the turntable base, and the rotating motor drives the turntable base to achieve a 360-degree rotation based on its own axis; the positioning piece is installed at the edge of the turntable base, and the positioning piece is spaced apart from the base surface of the first slide seat. A position sensor is installed on the top of the first slide seat, and the position sensor corresponds to the positioning piece on the turntable base.

[0015] Optionally, the steel bar clamp includes a clamp base, a guide mechanism and a claw hand component. The end of the clamp base is rotatably connected to the front end of the hand grasping arm through a rotating flange. The front end of the clamp base is provided with a guide mechanism perpendicular to the pointing direction of the tip of the claw hand component. The guide mechanism is detachably connected to the claw hand component.

[0016] Optionally, the guiding mechanism includes two second guide rails and two groups of second slides, the two second guide rails are installed at intervals and in parallel at the front end of the clamp base, one end of the sliding of the two groups of second slides is installed on the two second guide rails and can move along the length direction of the second guide rails, and the other end of each group of second slides is detachably connected to the claw hand component.

[0017] Optionally, the claw hand component includes an electric push rod, a claw hand frame and a connecting rod mechanism, the electric push rod is detachably mounted at the end of the claw hand frame, the connecting rod mechanism is mounted at the front end of the claw hand frame, and the electric push rod penetrates the claw hand frame and is detachably connected to the connecting rod mechanism;

[0018] The front part of the claw frame is a hollow structure and is connected by multiple cross bars.

[0019] Optionally, the connecting rod mechanism includes a connecting rod, a transmission rod, an adjustment frame, an adjustment rod and clamping fingers, the middle part of the connecting rod is movably connected to the front end of the electric push rod, and the upper and lower ends of the connecting rod are respectively movably connected to one end of a transmission rod, wherein the other ends of the transmission rods at the upper and lower ends are respectively movably connected to one end of the corresponding adjustment frame, and the other ends of the upper and lower adjustment frames are respectively movably connected to the corresponding clamping finger ends, and each group of the clamping finger ends are also movably connected to different said cross bars through the corresponding adjustment rods.

[0020] Optionally, the sorting system also includes a transporting part, which is a latent AGV trolley, and the latent AGV trolley has a lifting function; the loading part includes a loading rack and a loading station, the loading station is fixed on a reference plane, the loading rack is detachably arranged on the loading station, the loading rack adopts a multi-layer structure design, and the latent AGV trolley can abut against the bottom of the loading rack and drive the loading rack to move.

[0021] (III) Beneficial effects

[0022] The beneficial effects of the utility model are as follows: the utility model is a sorting system for a steel bar production line, which realizes automatic grabbing and transferring of steel bars through a sorting robot arm, replacing the traditional manual sorting method, greatly improving the automation level of the production line, reducing manpower input, and reducing labor intensity. The sorting robot arm can slide on the first guide rail and flexibly move to different positions of the temporary storage part, quickly and accurately grab the steel bars and transfer them to the loading part, which significantly improves the sorting efficiency and avoids delays and errors that may be caused by manual operation. The temporary storage part, the sorting part and the multiple loading parts are arranged in sequence on the side of the steel bar production line. This layout not only saves site space, but also ensures the smoothness of the entire sorting process, avoiding congestion and confusion in the flow of materials. Due to the improvement in sorting efficiency, the sorting system helps to optimize the production capacity of the entire production line, reduce waiting time, improve production rhythm, and has a positive role in promoting production efficiency and product quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a distribution diagram of the sorting system used in the utility model;

[0024] Figure 2 This is a structural diagram of the sorting part of the utility model from one perspective;

[0025] Figure 3 This is a structural schematic diagram of the sorting part of the utility model from another perspective;

[0026] Figure 4 This is a schematic diagram of the steel bar clamp structure of the utility model.

[0027] [Description of Reference Numerals]

[0028] 1: Temporary storage; 2: Sorting; 3: Loading; 4: Steel bar clamp; 5: Transport;

[0029] 21: Sorting robot arm; 22: First guide rail;

[0030] 211: first slide seat; 212: turntable base; 213: main mechanical arm; 214: auxiliary mechanical arm; 215: joint assembly; 216: mechanical wrist; 217: hand gripper arm; 218: rotating flange;

[0031] 219: positioning member; 220: position sensor;

[0032] 31: loading rack; 32: loading station;

[0033] 41: Gripper base; 42: Guide mechanism; 43: Gripper component;

[0034] 421: second guide rail; 422: second slide seat;

[0035] 431: electric push rod; 432: claw hand frame; 433: connecting rod mechanism; 434: cross bar;

[0036] 4331: connecting rod; 4332: transmission rod; 4333: adjustment frame; 4334: adjustment rod; 4335: clamping finger. DETAILED DESCRIPTION

[0037] In order to better explain the present invention and facilitate understanding, the present invention is described in detail below in conjunction with the accompanying drawings through specific implementation methods. Figure 1 The orientation is used as a reference.

[0038] With the continuous improvement of efficiency and quality requirements in the process of modern industrialization, the utility model proposes an automated, high-precision sorting system for the sorting link at the end of the steel bar production line, aiming to solve the problems of low efficiency and easy errors in traditional manual sorting. The system mainly includes a temporary storage part, a sorting part and a plurality of orderly arranged loading parts, which are arranged from near to far according to the distance from the production line. Among them, the temporary storage part is used to store the steel bars produced by the production line, and the sorting part is equipped with a precise sorting mechanical arm and a first guide rail structure. The sorting mechanical arm is connected to the first guide rail by sliding, can adjust the position according to the instructions, and has the function of clamping and releasing the steel bars, and can accurately place the steel bars in the temporary storage part to any loading part. The various components work together to enable the sorting mechanical arm to realize the action of grabbing and placing steel bars in all directions in three-dimensional space. When the clamping claw clamps the steel bars, the electric push rod, the connecting rod mechanism and the clamping finger are precisely matched to achieve the stable grasping and release of steel bars of different specifications. The utility model greatly improves the sorting efficiency and accuracy, reduces labor costs, optimizes the production process, and has a significant effect on improving the production capacity and product quality of the entire steel bar production line.

[0039] In order to better understand the above technical solution, exemplary embodiments of the present invention will be described in more detail with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to enable a clearer and more thorough understanding of the present invention and to fully convey the scope of the present invention to those skilled in the art.

[0040] Embodiment 1:

[0041] See also Figure 1 A sorting system for a steel bar production line, the sorting system comprises a temporary storage part 1, a sorting part 2 and a plurality of loading parts 3 arranged in a row, and the temporary storage part 1, the sorting part 2 and the plurality of loading parts 3 are sequentially arranged at intervals on the side of the steel bar production line in the order of distance from the production line from near to far; the temporary storage part 1 stores the steel bars produced by the production line, the sorting part 2 comprises a sorting mechanical arm 21 and a first guide rail 22, the first guide rail 22 is arranged on a base surface, the sorting mechanical arm 21 is slidably connected to the first guide rail 22, the sorting mechanical arm 21 has a clamping state for clamping the steel bars and an open state for releasing the steel bars, and the sorting mechanical arm 21 can grab the steel bars stored in the temporary storage part 1 on one side and send them to any loading part 3 on the opposite side. The extension direction of the first guide rail 22 is parallel to the extension direction of the steel bars on the temporary storage part 1.

[0042] This design makes full use of the space on the side of the production line, making the sorting system compact. It also facilitates the smooth flow of steel bars between the temporary storage section and the sorting section, avoiding space waste or equipment conflicts caused by unreasonable layout.

[0043] By adopting the sorting robot arm 21 to replace the traditional manual sorting method, the automation level of the steel bar sorting work is greatly improved, the dependence on manual labor is reduced, and the labor intensity of the staff is reduced.

[0044] The sorting robot arm 21 can slide flexibly on the first guide rail 22 and accurately grab the steel bars, quickly completing the transfer from the temporary storage part 1 to the loading part 3, greatly speeding up the sorting speed and effectively solving the problem of low efficiency of the original manual sorting.

[0045] The sorting robot arm 21 has controllable states of clamping and loosening, and can accurately grasp steel bars of different specifications and positions, and accurately deliver them to the designated loading part 3, which significantly reduces the sorting errors that may occur due to manual operation.

[0046] The temporary storage section 1, the sorting section 2 and the plurality of loading sections 3 are arranged in sequence from near to far from the production line, making the layout of the entire sorting system more compact and reasonable, saving factory land, while also ensuring smooth material flow, avoiding on-site congestion, and improving site utilization.

[0047] Due to the significant improvement in sorting efficiency, the waiting time of steel bars at the end of the production line can be reduced, and the overall production rhythm can be improved, which is beneficial to improving the production efficiency and product quality of the entire steel products factory, reducing production costs and improving economic benefits.

[0048] See also Figure 1 , Figure 2 and Figure 3 The sorting robot arm 21 includes a main body structure and an end effector. The main body structure is a multi-axis robot, and the end effector is a steel clamp 4. One end of the multi-axis robot is slidably connected to the first guide rail 22, and the other end of the multi-axis robot is rotatably connected to the steel clamp 4.

[0049] The high flexibility and freedom of the sorting robot 21 enable it to perform complex and precise motion adjustments in three-dimensional space.

[0050] The robot arm can move smoothly and stably along a preset direction (parallel to the extension direction of the steel bars on the temporary storage part 1) on the first guide rail 22, so as to grab the steel bars and place them on the loading part 3 at different positions.

[0051] The top of the axis manipulator is rotatably connected to the steel bar clamp 4, which can be rotated and positioned at different angles and directions as needed to adapt to the placement of steel bars of different shapes, sizes and positions, further improving the flexibility and accuracy of the sorting work. In particular, the steel bars are placed at the lower part of the loading part 3 first, and then at the upper part, so that the machine posture can be fully adjusted to complete the placement task of the steel bars.

[0052] The steel bar clamp 4 is designed to clamp and release the steel bars, ensuring that the steel bars can be firmly grasped without damaging their surfaces during the sorting process, and can be quickly opened when release is required, thereby achieving effective sorting and transfer of the steel bars.

[0053] See also Figure 2 and Figure 3 The multi-axis manipulator includes a first slide 211, a turntable base 212, a main manipulator 213, an auxiliary manipulator 214, a joint assembly 215, a manipulator wrist 216, a gripper arm 217 and a rotating flange 218. The first slide 211 is slidably mounted on the first guide rail 22 and can move along the length direction of the first guide rail 22. The turntable base 212 can be rotatably mounted in the middle of the first slide 211. The main manipulator 213 is mounted on the upper part of the turntable base 212. The upper part of the turntable base 212 is equipped with a first motor, and the main manipulator 213 is driven to swing upward by the first motor.

[0054] The upper end of the main robotic arm 213 is movably connected to the auxiliary robotic arm 214 through a joint assembly 215. The joint assembly 215 is equipped with a second motor located at the lower part thereof. The second motor is connected to the auxiliary robotic arm 214 through transmission. The auxiliary robotic arm 214 is controlled to swing up and down through the second motor. The swing-up amplitude of the auxiliary robotic arm 214 is greater than that of the main robotic arm 213. The joint assembly 215 is also equipped with a third motor located at the upper part thereof. The third motor is connected to the auxiliary robotic arm 214 through transmission. The third motor drives the auxiliary robotic arm 214 to rotate with its own rotation axis as the center line.

[0055] The front end of the auxiliary mechanical arm 214 is detachably connected to the mechanical wrist 216. The inner wall of the front end of the mechanical wrist 216 is rotatably connected to a hand gripping arm 217. The hand gripping arm 217 is rotatably connected to the steel bar clamp 4 through a rotating flange 218 at its front end.

[0056] The first slide 211 is a basic moving part, which is slidably assembled on the first guide rail 22, allowing the entire manipulator system to move linearly along the length direction of the guide rail, thereby covering a larger working range. The turntable base 212 is installed in the middle of the first slide 211 and has a rotatable function. Through the built-in first motor drive, the main mechanical arm 213 can be realized to swing up within a certain angle range, increasing the freedom of movement of the manipulator in the vertical plane. The main mechanical arm 213 can rotate with the base through the linkage with the turntable base, and its upper end is connected to the auxiliary mechanical arm 214 through the joint assembly 215 to form a multi-stage linkage structure. The second motor is connected to the auxiliary mechanical arm 214 in a transmission manner to control the auxiliary mechanical arm to move at a larger angle in the direction of the swing, and has a larger range of motion than the main mechanical arm. The third motor is also connected to the auxiliary mechanical arm in a transmission manner, and its function is to drive the auxiliary mechanical arm to rotate around its own rotation axis, increasing the movement dimension of the manipulator in the horizontal plane. The front end of the auxiliary mechanical arm 214 is detachably connected to the mechanical wrist 216 and rotates synchronously. A rotatably connected hand gripper arm 217 is provided inside the front end of the mechanical wrist 216. The mechanical wrist 216 has a built-in motor to control the hand gripper arm 217 to rotate around the connection point with the mechanical wrist 216. The rotation direction is the same as the tilting direction of the manipulator, which enhances the ability to fine-tune the gripping posture of the target object. The hand gripper arm 217 is connected to the steel bar clamp 4 through the rotating flange 218 at the front end, and can rotate around the flange, so that the clamp can grasp or release the steel bar at the best angle and strength. The steel bar clamp 4 can accurately locate and implement the corresponding gripping operation in three-dimensional space through the precise coordination of the above-mentioned multi-stage transmission structure.

[0057] See also Figure 2 and Figure 3 A counterweight motor is also disposed on the turntable base 212, and a telescopic rod at the front end of the counterweight motor is hinged to the lower end of the main mechanical arm 213, and the hinge axis is perpendicular to the direction of the telescopic rod.

[0058] The main function of the counterweight motor and its telescopic rod is to dynamically adjust the center of gravity of the main robot arm 213, and at the same time assist the first motor to drive the main robot arm 213 to provide a certain support capability. In particular, when the main robot arm is performing a supine swing, the torque distribution can be changed by extending and retracting the telescopic rod, which helps maintain the balance stability of the robot arm in various postures, thereby improving the operating accuracy and safety of the entire robot system. When the main robot arm 213 needs to swing greatly or carry a heavy weight of material, the counterweight motor can adjust the length of the telescopic rod to offset the unstable torque generated by the robot arm movement in real time, ensuring that the entire robot system smoothly and effectively executes various operating instructions. At the same time, the middle and rear part of the counterweight motor can rotate on the turntable seat, and the rotation direction is opposite to the main robot's supine swing direction, which further enhances the dynamic balance control ability of the robot arm in multi-dimensional space, making it more stable and reliable when performing complex actions.

[0059] See also Figure 2 and Figure 3 A rotating motor and a positioning member 219 are also installed on the turntable base 212. The rotating motor drives the turntable base 212 to realize a 360-degree rotation based on its own axis; the positioning member 219 is installed at the edge of the turntable base 212, and the positioning member 219 is spaced from the base surface of the first slide 211. A position sensor 220 is installed on the top of the first slide 211, and the position sensor 220 corresponds to the positioning member 219 on the turntable base 212.

[0060] The main robot arm 213 can not only swing up, but also rotate circumferentially around the axis of the turntable base, which greatly increases the robot's freedom of movement in the circumferential direction, enables it to reach a wider working range, and improves the efficiency of taking steel bars from the temporary storage part 1 and placing them on the loading part 3.

[0061] The positioning member 219 ensures that the turntable base can be accurately positioned each time it rotates to the right position, thereby ensuring the accuracy of the robot's movements.

[0062] The position sensor 220 corresponds to the positioning piece 219. When the turntable base rotates to the initial position, the position sensor will detect the presence of the positioning piece, and then send a signal to the control system to achieve precise control of the rotation angle of the turntable base, ensuring that the manipulator can accurately reach the preset position during each operation, thereby improving the automation level and work efficiency of the entire system.

[0063] See also Figure 4 The steel bar clamp 4 includes a clamp base 41, a guide mechanism 42 and a claw hand component 43. The end of the clamp base 41 is rotatably connected to the front end of the hand grasping arm 217 through a rotating flange 218. The front end of the clamp base 41 is provided with a guide mechanism 42 perpendicular to the pointing direction of the tip of the claw hand component 43. The guide mechanism 42 and the claw hand component 43 are detachably connected.

[0064] This enables the steel bar clamping claw 4 to flexibly follow the hand gripping arm to rotate at different angles to adapt to different gripping positions and angles of the steel bar.

[0065] The function of the guide mechanism 42 is to ensure that the claw hand component can stably and accurately open and close along a predetermined trajectory during the process of clamping or releasing the steel bar, thereby preventing unstable grasping or damage to the steel bar surface due to uneven force or other reasons.

[0066] See also Figure 4The guiding mechanism 42 includes two second guide rails 421 and two groups of second slides 422. The two second guide rails 421 are installed at intervals and in parallel at the front end of the clamping claw base 41. One end of the two groups of second slides 422 is installed on the two second guide rails 421 and can move along the length direction of the second guide rails 421. The other end of each group of second slides 422 is detachably connected to the claw hand component 43.

[0067] By controlling the forward and backward movement of the electric push rod, the opening and closing of the clamping jaws can be easily achieved. The adjustment frames and clamping fingers at the upper and lower ends are synchronously linked to ensure the coordination and smooth transition of the clamping jaws in the closed and open states, thereby effectively grasping and releasing steel bars of different specifications, improving the automation level and work efficiency of the sorting system.

[0068] See also Figure 4 The claw hand component 43 includes an electric push rod 431, a claw hand frame 432 and a connecting rod mechanism 433. The motor at the rear end of the electric push rod 431 is detachably mounted at the end of the claw hand frame 432. The connecting rod mechanism 433 is mounted at the front end of the claw hand frame 432. The electric push rod 431 penetrates the claw hand frame 432 and is slidably connected with the connecting rod mechanism 433. A stopper is provided at the front end of the electric push rod 431 to prevent the connecting rod mechanism 433 and the electric push rod 431 from falling off. The connecting rod mechanism 433 realizes the opening and closing of the clamping claw under the telescopic action of the electric push rod 431. The front part of the claw hand frame 432 is a hollow structure and is connected by a plurality of cross bars 434. Four cross bars 434 are provided on each claw hand frame 432, which are the first cross bar, the second cross bar, the third cross bar and the fourth cross bar from top to bottom.

[0069] See also Figure 4 The connecting rod mechanism 433 includes a connecting rod 4331, a transmission rod 4332, an adjustment frame 4333, an adjustment rod 4334 and a clamping finger 4335. The middle part of the connecting rod 4331 is movably connected to the front end of the electric push rod 431. The upper and lower ends of the connecting rod 4331 are movably connected to one end of a transmission rod 4332, wherein the other ends of the transmission rods 4332 at the upper and lower ends are movably connected to one end of the corresponding adjustment frame 4333, and the other ends of the upper and lower adjustment frames 4333 are movably connected to the ends of the corresponding clamping fingers 4335, and the ends of each group of clamping fingers 4335 are also movably connected to different cross bars 434 through the corresponding adjustment rods 4334. The adjustment rods 4334 at the upper and lower ends play an auxiliary role in the closing process of the clamping jaws. They can help the clamping fingers maintain the correct trajectory and appropriate strength during the closing process, ensure the accuracy and softness of the clamping action, and prevent damage to the steel bars.

[0070] The connecting rod 4331 is movably connected to the front end of the electric push rod 431, and the power is transmitted through the transmission rods 4332 at the upper and lower ends. The transmission rods 4332 are movably connected to the adjustment frame 4333, thereby driving the movement of the clamping fingers 4335. There are a group of clamping fingers 4335 at the upper and lower ends, which are movably connected to the multiple cross bars 434 of the claw frame 432 through the adjustment rod 4334 to ensure the stability and accuracy of the clamping fingers during movement.

[0071] The upper adjustment frame 4333 is structurally different from the lower adjustment frame 4333. The upper adjustment frame 4333 is located in the middle of the first crossbar and is rotatably connected to the first crossbar. The end of the upper adjustment frame 4333 is rotatably connected to the upper transmission rod 4332 through a short pin shaft. The end of the upper adjustment frame 4333 is rotatably connected to a clamping finger 4335, and the clamping finger 4335 is rotatably connected to the second crossbar through the upper adjustment rod 4334.

[0072] The width of the lower adjustment frame 4333 is close to the length of the fourth crossbar, and the lower adjustment frame 4333 is located at both ends of the fourth crossbar. In the width direction, the lower adjustment frame 4333 is located inside the claw frame 432. The end of the lower adjustment frame 4333 is connected by a long pin shaft rod, and the middle part of the long pin shaft rod is movably connected to the lower transmission rod 4332. The front end of the lower adjustment frame 433 is rotatably connected to a finger clamping frame, and the two ends of the finger clamping frame along the direction of the guide mechanism 42 are respectively provided with clamping fingers 4335.

[0073] The width of the adjustment frame 4333 below is close to the length of the fourth crossbar. This design increases the structural stability of the entire clamping claw component and ensures the rigidity and load-bearing capacity during the process of grabbing and releasing steel bars. Since the adjustment frame is located at both ends of the fourth crossbar, and its front end is movably connected to the transmission rod through a long pin shaft rod, this design enables the lower clamping fingers to achieve a larger range of opening and closing movements. Through the active connection between the long pin shaft rod and the transmission rod, a good linkage effect is achieved between the upper and lower clamping fingers. When the electric push rod pushes the connecting rod mechanism to move, the upper and lower clamping fingers can move synchronously, ensuring balanced force and smooth movement during the clamping and releasing process, thereby improving the efficiency and stability of the entire sorting system.

[0074] The lower adjustment frame 4333 is connected to two clamping fingers 4335, and the upper adjustment frame 4333 is connected to one clamping finger 4335. The projection of the upper clamping finger 4335 on the horizontal plane is located between the two lower clamping fingers 4335. Semicircular grooves are provided at the opposite ends of the upper and lower clamping fingers 4335 to facilitate clamping of the steel bars.

[0075] The upper clamping finger 4335 and the lower two clamping fingers 4335 are designed to improve adaptability. For steel bars of different specifications and shapes, the upper single clamping finger and the lower two parallel clamping fingers can better cover the steel bars and achieve more stable grasping and release. The design of the lower two clamping fingers can distribute the force on a wider contact surface, effectively disperse the pressure, and avoid excessive local stress that causes damage to the steel bars or unstable clamping. The cooperation of the upper and lower clamping fingers can provide a better clamping effect. The upper single clamping finger can penetrate into the middle part of the steel bar, and the lower double clamping fingers can provide lateral support. This structural design prevents the steel bars from slipping or deforming easily during grasping and handling.

[0076] By contracting the electric push rod 431 backward, the connecting rod 4331 is pulled backward, and the transmission rod 4332 at the upper end and the transmission rod 4332 at the lower end both move toward the axial direction of the electric push rod 431, and then the upper adjustment frame 4333 and the lower adjustment frame 4333 move toward the axial direction of the electric push rod 431, and the upper clamping finger 4335 and the lower clamping finger 4335 follow and move toward the axial direction of the electric push rod 431. At the same time, the adjusting rods 4334 at the upper and lower ends assist the clamping finger 4335 to move, thereby realizing the closed state of the clamping jaws.

[0077] The electric push rod 431 contracts backward, driving the connecting rod 4331 to move backward, and then links the transmission rods 4332 at the upper and lower ends to concentrate axially toward the electric push rod, so that the adjustment frames 4333 at the upper and lower ends synchronously approach the direction of the electric push rod. This design realizes the rapid closing action of the clamping jaws and improves work efficiency.

[0078] By extending the electric push rod 431 forward, the connecting rod 4331 is pulled forward, and the transmission rod 4332 at the upper end and the transmission rod 4332 at the lower end are separated in the axial direction of the electric push rod 431, and then the upper adjustment frame 4333 and the lower adjustment frame 4333 are separated in the axial direction of the electric push rod 431, and the upper clamping finger 4335 and the lower clamping finger 4335 follow and separate in the axial direction of the electric push rod 431. At the same time, the adjusting rods 4334 at the upper and lower ends assist the clamping finger 4335 to move, so as to realize the open state of the clamping jaws.

[0079] A visual recognition system may be installed at the front end of the gripper frame 432, such as a visual element such as a camera or a photoelectric sensor, to take a picture or scan the shape, size, and marking of the steel bars, and then analyze the diameter, type, and surface features of the steel bars through an image processing algorithm to identify the specifications of the steel bars.

[0080] The gripper component is cleverly designed, with an electric push rod driving the connecting rod mechanism to achieve precise and powerful clamping action. Combined with the design of the adjustment frame and the adjustment rod, it ensures the stability of the gripper during the opening and closing process, and improves the clamping efficiency and accuracy.

[0081] Optionally, the sorting system also includes a transporting part 5, which is a latent AGV trolley, and the latent AGV trolley has a lifting function; the loading part 3 includes a loading rack 31 and a loading station 32, the loading station 32 is fixed on the reference plane, and the loading rack 31 is detachably arranged on the loading station 32. The loading rack 31 adopts a multi-layer structure design, and the latent AGV trolley can abut against the bottom of the loading rack 31 and drive the loading rack 31 to move.

[0082] The loading station 32 is set up on the reference plane, providing a stable platform for loading materials. The loading rack 31 adopts a multi-layer structure design, which can accommodate and distinguish different types or batches of steel products.

[0083] The latent AGV can be lifted and lowered to fit the bottom of the loading rack 31, and can drive the loading rack 31 to move in the entire material handling area through its own movement function. The sorted steel bars can be accurately placed on the loading rack by the mechanical arm, and then the AGV will transport the loading rack to the designated location, realizing the full automation from sorting to transportation.

[0084] In the description of the present utility model, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present utility model, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0085] In the present invention, unless otherwise clearly specified and limited, the terms "install", "connect", "connect", "fix" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0086] In the present utility model, unless otherwise clearly specified and limited, when a first feature is “on” or “below” a second feature, it may be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, when a first feature is “above”, “above” or “above” a second feature, it may be that the first feature is directly above or obliquely above the second feature, or it may simply mean that the first feature is higher in level than the second feature. When a first feature is “below”, “below” or “below” a second feature, it may be that the first feature is directly below or obliquely below the second feature, or it may simply mean that the first feature is lower in level than the second feature.

[0087] In the description of this specification, the description of the terms "one embodiment", "some embodiments", "embodiment", "example", "specific example" or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

[0088] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are illustrative and cannot be understood as limitations of the present invention. Ordinary technicians in the field can change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A sorting system for a steel bar production line, characterized in that: The sorting system comprises a temporary storage part (1), a sorting part (2) and a plurality of loading parts (3) arranged in a row. The temporary storage part (1), the sorting part (2) and the plurality of loading parts (3) are arranged in sequence and at intervals on the side of the steel bar production line in the order of distance from the steel bar production line from near to far. The temporary storage part (1) and the loading part (3) are located on both sides of the sorting part (2). The temporary storage part (1) stores the steel bars produced by the steel bar production line. The sorting part (2) comprises a sorting mechanical arm. (21) and a first guide rail (22), wherein the first guide rail (22) is arranged on a base surface, the sorting robot arm (21) is slidably connected to the first guide rail (22), the sorting robot arm (21) has a clamping state for clamping the steel bars and an open state for releasing the steel bars, and the sorting robot arm (21) is provided with a visual recognition element for identifying the specifications of the steel bars, and the sorting robot arm (21) can grab the steel bars stored in the temporary storage part (1) on one side thereof and deliver them to any one of the loading parts (3) on the opposite side.

2. The sorting system according to claim 1, characterized in that: The sorting robot arm (21) comprises a main body mechanism and an end effector, wherein the main body mechanism is a multi-axis robot, and the end effector is a steel bar clamp (4), one end of the multi-axis robot is slidably connected to the first guide rail (22), and the other end of the multi-axis robot is rotatably connected to the steel bar clamp (4) around its own axis.

3. The sorting system according to claim 2, characterized in that: The multi-axis manipulator comprises a first slide (211), a turntable base (212), a main manipulator arm (213), a secondary manipulator arm (214), a joint assembly (215), a manipulator wrist (216), a hand gripper arm (217) and a rotating flange (218); the first slide (211) is slidably mounted on the first guide rail (22) and can move along the length direction of the first guide rail (22); the turntable base (212) can be rotatably mounted on the middle part of the first slide (211); the main manipulator arm (213) is mounted on the upper part of the turntable base (212); the upper part of the turntable base (212) is provided with a first motor, and the main manipulator arm (213) is driven to swing upward by the first motor; The upper end of the main mechanical arm (213) is movably connected to the auxiliary mechanical arm (214) through the joint assembly (215); the joint assembly (215) is equipped with a second motor located at the lower part thereof; the second motor is in transmission connection with the auxiliary mechanical arm (214); the auxiliary mechanical arm (214) is controlled to swing upward by the second motor; the amplitude of the swing upward of the auxiliary mechanical arm (214) is greater than the amplitude of the swing upward of the main mechanical arm (213); the joint assembly (215) is also equipped with a third motor located at the upper part thereof; the third motor is in transmission connection with the auxiliary mechanical arm (214); the third motor drives the auxiliary mechanical arm (214) to rotate with its own rotation axis as the center line; The front end of the auxiliary mechanical arm (214) is detachably connected to the mechanical wrist (216), and the inner wall of the front end of the mechanical wrist (216) is rotatably connected to the hand gripping arm (217), and the hand gripping arm (217) is rotatably connected to the steel bar clamp (4) via the rotating flange (218) at its front end.

4. The sorting system according to claim 3, characterized in that: The turntable base (212) is also provided with a counterweight motor, and a telescopic rod at the front end of the counterweight motor is hinged to the lower end of the main mechanical arm (213), and the hinge axis is perpendicular to the telescopic rod.

5. The sorting system according to claim 3, characterized in that: A rotating motor and a positioning member (219) are also installed on the turntable base (212), and the rotating motor drives the turntable base (212) to realize a 360-degree rotation movement based on its own axis; the positioning member (219) is installed at the edge of the turntable base (212), and there is a gap between the positioning member (219) and the base surface of the first slide seat (211). A position sensor (220) is installed on the top of the first slide seat (211), and the position sensor (220) corresponds to the positioning member (219) on the turntable base (212).

6. The sorting system according to claim 5, characterized in that: The steel bar clamp (4) comprises a clamp base (41), a guide mechanism (42) and a claw hand component (43); the end of the clamp base (41) is rotatably connected to the front end of the hand gripping arm (217) via the rotating flange (218); the front end of the clamp base (41) is provided with the guide mechanism (42) which is perpendicular to the pointing direction of the tip of the claw hand component (43); the guide mechanism (42) is detachably connected to the claw hand component (43).

7. The sorting system according to claim 6, characterized in that: The guide mechanism (42) comprises two second guide rails (421) and two groups of second slides (422); the two second guide rails (421) are installed at a distance and in parallel at the front end of the clamping claw base (41); one sliding end of the two groups of second slides (422) is installed on the two second guide rails (421) and can move along the length direction of the second guide rails (421); the other end of each group of second slides (422) is detachably connected to the claw hand component (43).

8. The sorting system according to claim 7, characterized in that: The claw hand component (43) comprises an electric push rod (431), a claw hand frame (432) and a connecting rod mechanism (433); the electric push rod (431) is detachably mounted on the end of the claw hand frame (432); the connecting rod mechanism (433) is mounted on the front end of the claw hand frame (432); and the electric push rod (431) penetrates the claw hand frame (432) and is detachably connected to the connecting rod mechanism (433); The front part of the claw arm frame (432) is a hollow structure and is connected by a plurality of cross bars (434).

9. The sorting system according to claim 8, characterized in that: The connecting rod mechanism (433) includes a connecting rod (4331), a transmission rod (4332), an adjustment frame (4333), an adjustment rod (4334) and a clamping finger (4335), wherein the middle portion of the connecting rod (4331) is movably connected to the front end of the electric push rod (431), and the upper and lower ends of the connecting rod (4331) are respectively movably connected to one end of the transmission rod (4332), wherein the other ends of the transmission rod (4332) at the upper and lower ends are respectively movably connected to one end of the corresponding adjustment frame (4333), and the other ends of the upper and lower adjustment frames (4333) are respectively movably connected to the corresponding ends of the clamping fingers (4335), and the ends of each group of the clamping fingers (4335) are also movably connected to different cross bars (434) through the corresponding adjustment rods (4334).

10. The sorting system according to claim 1, characterized in that: The sorting system further comprises a transporting part (5), wherein the transporting part (5) is a latent AGV trolley, and the latent AGV trolley has a lifting function; the loading part (3) comprises a loading frame (31) and a loading station (32), wherein the loading station (32) is fixed on a reference plane, and the loading frame (31) is detachably arranged on the loading station (32), wherein the loading frame (31) adopts a multi-layer structure design, and the latent AGV trolley can abut against the bottom of the loading frame (31) and drive the loading frame (31) to move.

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