Apparatus and method for collecting steel bar samples.

Abstract

To provide a bar steel sample collection apparatus and a bar steel sample collection method which can improve a work environment of an operator.SOLUTION: A bar steel sample collection apparatus comprises: a multi-articulated robot having a cutter for cutting a portion of a bar steel on a cooling bed to collect a sample and a hand part for carrying out the cut sample on an end of an arm; a control device which controls the operation of the multi-articulated robot; and a cutting determination device which determines whether or not a portion of the bar steel is normally cut after completion of the cutting operation by the cutter, outputs a completion signal when the bar steel is normally cut, and outputs a failure signal when the bar steel is not normally cut. The control device performs at least one of control of the multi-articulated robot such that the hand part carries out the sample when the completion signal is acquired, and control of the multi-articulated robot such that an alarm signal is output and the cutter performs cutting again when the failure signal is acquired.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present invention relates to a bar steel sample collection device and a bar steel sample collection method.

Background Art

[0002] In a bar steel rolling mill, hot bar steel finished to the product shape at the final rolling stand is cut into about 100 m lengths by a dividing shear and conveyed to a cooling bed facility. The product (bar steel) finished by the rolling facility cuts a part of it on the cooling bed to collect a sample, cools it offline, and performs predetermined inspections such as dimensional measurement, shape inspection, appearance confirmation, unit weight measurement, and various mechanical tests to confirm the cross-sectional shape, dimensions, and mechanical properties of the product. These inspection results are fed back to the rolling mill to adjust the manufacturing conditions.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0004] Conventionally, samples of about 0.5 to 2.0 m are often collected by manually gas-cutting hot bar steel by an operator. Whether entering the cooling bed facility to work or not, even if not entering, working on the deck near the cooling bed, so it is working in a high-temperature and high-humidity environment, on a bad footing, and in a bad posture.

[0005] In response to this, for example, Patent Document 1 discloses a sample collection device equipped with a sample cutting machine next to the cooling bed that automatically cuts the sample portion. Furthermore, Patent Document 2 discloses an automated sampling device that uses a multi-joint robot to perform gas cutting and sample removal outside the cooling bed equipment, tasks that were conventionally done manually.

[0006] The device described in Patent Document 1 is subject to limitations in equipment layout, and in some cases, significant modifications to the equipment itself may be necessary. On the other hand, by using a multi-joint robot as described in Patent Document 2, an automatic sampling device can be installed relatively easily by adding the robot to existing cooling bed equipment.

[0007] However, the apparatus described in Patent Document 2 is limited to sampling steel bars (reinforcements), and moreover, it does not show specific methods for cutting the sample or transporting it after cutting. In particular, when sampling H-beams and the like, it is not easy to complete gas cutting properly, and if the sample is transported before cutting is complete, it can lead to yield loss due to bending of the product material, transport malfunctions of the cooling bed equipment, overload of the robot arm, and equipment damage.

[0008] This invention has been made in view of the above circumstances, and aims to provide a steel bar sample collection device and a steel bar sample collection method that can be easily installed in existing facilities and can automatically, safely, and reliably perform steel bar sampling. [Means for solving the problem]

[0009] The present invention includes several means for solving the above problems, but to give one example, the steel bar sample collection device includes an articulated robot having a cutting machine at the end of its arm for cutting a portion of a steel bar on a cooling bed to collect a sample and a hand for transporting the cut sample, a control device for controlling the operation of the articulated robot, and a cutting determination device that, after the cutting operation by the cutting machine is completed, determines whether or not the portion of the steel bar has been cut normally, outputs a completion signal if it has been cut normally, and outputs a failure signal if it has not been cut normally, and the control device, upon receiving the completion signal, controls the articulated robot so that the hand transports the sample, and upon receiving the failure signal, outputs an alarm signal and controls the articulated robot so that the cutting machine performs a recut. [Effects of the Invention]

[0010] According to the present invention, it is possible to provide a steel bar sample collection device and a steel bar sample collection method that can be easily installed in existing facilities and can automatically, safely, and reliably perform steel bar sampling. [Brief explanation of the drawing]

[0011] [Figure 1] This figure shows an example of the structure of a cooling floor system. [Figure 2] This figure shows an example of the structure of the end portion of an articulated robot arm. [Figure 3] This figure shows an example of the configuration of a steel bar sample collection device. [Figure 4] This figure shows an example of position detection using a position measurement device. [Figure 5] This figure shows the first example of the condition of the remaining portion of the steel bar. [Figure 6] This figure shows a second example of the condition of the remaining portion of the steel bar. [Figure 7] This figure shows an example of the processing procedure for a steel bar sample collection device. [Modes for carrying out the invention]

[0012] Embodiments of the present invention will be described below with reference to the drawings. Figure 1 is a diagram showing an example of the structure of a cooling bed equipment. The cooling bed equipment (cooling bed line equipment) 20 transports steel bars 30 and stops the steel bars 30 at a predetermined position on the cooling bed. The cooling bed equipment 20 includes a straightening bed 21 that straightens the steel bars 30 so that they become straight, a movable rake 22 that moves the steel bars 30 laterally while cooling them, and a fixed rake 23 that receives the steel bars 30 transported by the movable rake 22. In addition, there are gaps 24 of a certain length between the movable rake 22 and the other components on the cooling bed.

[0013] The articulated robot 10 is installed near the cooling bed equipment 20 and can be configured as, for example, a 6-axis robot. The 6-axis robot has an arm 14 with six axes (also called joints) and multiple links connecting the joints, and has a total of 6 degrees of freedom in three-dimensional space (XYZ axis coordinate system), including translation in each direction of the XYZ axes and rotation around each of the XYZ axes. The end of the arm 14 of the articulated robot 10 is equipped with a cutting machine 12 for cutting a portion of the steel bars 30 on the cooling bed to take a sample, and a hand unit 13 for transporting the cut sample. The cutting machine 12 includes, for example, a gas cutting machine. The cutting machine 12 and the hand unit 13 are controlled to be in a desired position, orientation, and posture.

[0014] Figure 2 shows an example of the structure of the end of the arm 14 of the articulated robot 10. The hand portion 13 comprises a rod-shaped support portion 131, a plurality of claw portions 132 (three claw portions 132 in the example shown) provided at appropriate distances from the support portion 131 and extending in the same direction, and clamp portions 133 provided corresponding to at least two of the plurality of claw portions 132 for holding a sample placed on the claw portions 132 between the claw portions 132 and the clamp portion 133. By providing a plurality of claw portions 132, the sample can be held stably. Note that in the example shown in Figure 2, the cutting machine 12 is shown to be provided at one end of the support portion 131, and its form is different from the cutting machine in the example shown in Figure 1. Thus, the cutting machine of the present invention may be provided at any position on the end of the arm 14 as long as it can cut a part of the steel bar and does not hinder the sample unloading operation by the hand portion.

[0015] The claw portion 132 is roughly L-shaped and has an edge portion 132a on which the sample is placed. This allows the sample to be stably placed on the claw portion 132. The separation dimension d between adjacent claw portions 132 is set to ensure that the sample can be stably held, based on the cross-sectional shape and dimensions of the sample (steel bar) and the weight of the sample. For example, if the separation dimension d is too small, it becomes difficult to position the center of gravity of the sample at the part supported by the claw portion. If both the length and weight of the sample are large, in the worst case, the hand portion may break or the sample may fall because it cannot withstand the rotational moment of the sample. Therefore, it can be said that a larger separation dimension d between the claw portions provides greater stability. However, if the hand portion becomes too large by increasing this dimension, it is more likely to interfere with other parts of the equipment when the arm of the articulated robot is operated, so it is necessary to set an appropriate size based on the parameters described above. In addition, in this embodiment, the separation dimension d is matched to the pitch of the gaps 24 present in the cooling bed. Furthermore, the claw portion 132 is formed in a plate shape so that it can be inserted into the gap 24 present in the cooling bed. This allows the cut sample to be scooped up from below.

[0016] The clamp part 133 of this embodiment includes an air cylinder, a laser distance meter for detecting the stroke, and the like. When gripping a sample, the clamp part 133 can slide toward the claw part 132 to sandwich the sample between the claw part 132. In this embodiment, a configuration in which each of the clamp parts 133 includes an air cylinder as a driving device is shown. However, only one driving device for driving the clamp part may be provided, and the driving device and the movable parts of all the clamp parts may be connected by a connecting member or the like, and the power of the driving device may be transmitted to the movable parts of all the clamp parts by the connecting member. Further, the device for detecting the stroke is not limited to a laser distance meter, and a limit switch, a proximity switch, or various stroke sensors may be used. The clamp mechanism is not limited to an air cylinder, and an electric type may be used.

[0017] FIG. 3 is a diagram showing an example of the configuration of a bar steel sample collection device. The bar steel sample collection device includes an articulated robot 10, a control device 50, a detection unit 60, a cutting determination device 70, and a position measurement device 80. The articulated robot 10 includes an arm 14 (not shown in FIG. 3) having a cutting machine 12 and a hand part 13. In the example of FIG. 3, the control device 50, the detection unit 60, the cutting determination device 70, and the position measurement device 80 are described as separate devices. However, the control device 50 and the cutting determination device 70 may be integrated into one device as a controller, and further, this controller may be mounted in the articulated robot 10, or the detection unit 60 or the position measurement device 80.

[0018] After the completion of the cutting operation of a part of the bar steel by the cutting machine 12, the cutting determination device 70 determines whether or not a part of the bar steel has been normally cut. If it has been normally cut, a completion signal is output to the control device 50. If it has not been normally cut, a failure signal is output to the control device 50.

[0019] The control device 50 controls the operation of the articulated robot 10 by outputting a control signal to the articulated robot 10. Specifically, when the control device 50 acquires a completion signal, it controls the articulated robot so that the hand unit 13 carries out the sample. Further, when the control device 50 acquires a failure signal, it outputs an alarm signal and controls the articulated robot 10 so that the cutting machine 12 performs re-cutting. Note that only one of the output of the alarm signal and the re-cutting may be carried out. When outputting the alarm signal, the control device itself may output the alarm signal in the form of an alarm sound (such as a beep sound), or may output a command for indicating that an alarm has been issued in the form of an electrical signal to another display device or the like.

[0020] The position measurement device 80 measures the position data of the steel bar stopped on the cooling bed. The position data can be, for example, the data of the end position of the steel bar. In this case, as the position measurement device, for example, a camera that photographs a certain area including the assumed position of the end of the steel bar and an image processing device that processes the obtained image to detect the end position can be used. Further, a laser rangefinder provided above the above-mentioned certain area and capable of scanning the area along the longitudinal direction of the steel bar may be used, and a device that detects the end position based on the data of the height difference between the cooling bed and the upper surface of the steel bar may be used. The position measurement device 80 outputs the end position data to the control device 50.

[0021] The control device 50 of the present embodiment calculates the cutting position of the steel bar based on the deviation between the end position data and the assumed position of the cutting position in the plane orthogonal to the longitudinal direction of the steel bar due to at least one of the bending, torsion, and warping of the steel bar described later. Specifically, the position in the longitudinal direction of the steel bar is calculated from the end position and the length information of the sample, and the cutting position of the steel bar is calculated based on the detection result of the deviation in the above-mentioned plane at the longitudinal position. However, in a facility where none of the bending, torsion, or warping of the steel bar occurs, the cutting position may be calculated only from the end position data. Thereafter, the articulated robot 10 (cutting machine 12) is controlled so that the steel bar is cut at this cutting position by the cutting machine 12.

[0022] The detection unit 60 detects the position of the residual portion, which is the part of the steel bar that remains on the cooling bed after the sample is removed, assuming that the cutting of the steel bar by the cutting machine was performed correctly. For example, a laser distance meter can be used as the detection unit 60. Specifically, the distance between the detection unit and the residual portion is detected by this laser distance meter, and the position of the residual portion is detected from this distance data, the position data of the detection unit, and the laser radiation direction data. The position data of the detection unit can be calculated based on the coordinate data of the hand unit 13 of the articulated robot and the installation position data of the arm end of the detection unit. The detection unit 60 outputs the position of the residual portion to the cutting determination device 70.

[0023] The cutting position may differ from the assumed position (the cutting position when no bending, twisting, or warping occurs) due to at least one of the bending, twisting, and warping of the steel bar. Figure 4 shows an example of detecting such a deviation of the cutting position from the assumed position. In this embodiment, a laser distance meter is used as the detection unit 60, and this laser distance meter also functions as the position deviation detection device of the present invention. Figure 4A shows the case when a general laser distance meter is used. The laser distance meter can be attached to the articulated robot 10 (for example, the hand unit 13). The hand unit 13 is scanned in a direction perpendicular to the longitudinal direction of the steel bar to detect the distance in the height direction of the steel bar. The position of the laser distance meter itself is calculated based on the coordinates of the hand unit 13 of the articulated robot 10. Although it also depends on the shape of the steel bar, the height position and angle of the steel bar can be calculated from the position information of at least two points on the steel bar (the deviation from the assumed position can be calculated).

[0024] Figure 4B shows a case where the laser rangefinder can detect position using a line. The height and inclination (torsion) of the steel bar can be calculated from the maximum height and projected width of the steel bar. Since scanning by a multi-joint robot 10 as shown in Figure 4A is unnecessary, the time required for detection processing is reduced.

[0025] The cutting determination device 70 determines whether or not the remaining portion remains on the cooling bed based on the position of the remaining portion detected by the detection unit 60 when the articulated robot 10 performs a sample lifting operation.

[0026] Figure 5 shows a first example of the state of the residual portion of the steel bar. The detection unit 60 detects the position of the residual portion of the steel bar around the cutting position when cutting the sample. Figure 5 shows a state in which the residual portion remains on the cooling bed because it is not located at a predetermined height from the cooling bed surface. When the cutting determination device 70 determines that the residual portion remains on the cooling bed, it determines that the sample has been cut successfully and outputs a completion signal to the control device 50.

[0027] Figure 6 shows a second example of the state of the residual portion of the steel bar. The detection unit 60 detects the position of the residual portion of the steel bar around the cutting position when cutting the sample. Figure 6 shows a state in which the residual portion is located at a predetermined height from the cooling bed surface and therefore does not remain on the cooling bed. In this case, the residual portion of the steel bar (for example, having a considerably longer dimension than the sample length of 0.5 to 2.0 m) remains connected to the sample. If the cutting determination device 70 determines that the residual portion does not remain on the cooling bed, it determines that the sample could not be cut properly and outputs a failure signal to the control device 50. This prevents events such as yield loss due to bending of the product material (steel bar), transport malfunction of the cooling bed equipment, overload of the arm 14 of the articulated robot 10, and equipment damage that may occur when the sample is not cut properly and the sample is removed.

[0028] Figure 7 shows an example of the processing procedure of the steel bar sample collection device. When the steel bar sample collection device detects a signal indicating that the steel bar has stopped at a predetermined position on the cooling bed (S11), it measures the position of the tail end of the steel bar (S12), and further detects the deviation of the cutting position from the assumed position in a plane perpendicular to the longitudinal direction of the steel bar (S13). Based on the measured tail end position and the deviation from the assumed position, the steel bar sample collection device calculates the cutting position of the steel bar (S14).

[0029] The steel bar sample collection device cuts a portion of the steel bar (sample) with the cutting machine 12 (S15), grasps the sample with the hand unit 13 and lifts it up (S16). The steel bar sample collection device detects the position of the remaining portion of the steel bar (S17), and based on the detected position, determines whether the cutting is complete or not based on whether the remaining portion of the steel bar is at a predetermined height (S18).

[0030] If the remaining portion of the steel bar is not at the predetermined height, the steel bar sample collection device determines that the sample cutting has been completed successfully (YES in S18), discharges the sample (S19), and terminates the process. On the other hand, if the remaining portion of the steel bar is at the predetermined height, the steel bar sample collection device determines that the sample cutting has failed (NO in S18), recuts the sample, outputs an alarm (S20), and continues the process from step S16 onward.

[0031] According to the above configuration, the articulated robot (vertical articulated 6-axis robot) 10, which is positioned on the drive side of the transport equipment on the entry side of the cooling bed equipment 20 and on the entry / exit side of the cooling bed, is equipped with a cutting machine (gas cutting machine) 12 for cutting and a hand unit 13 for sample transport. The articulated robot 10 has features such as the direction in which the cutting torch is applied to the hot material and the ability to move the cutting torch at a constant speed, so it does not depend on the skill of the worker as when cutting by a worker, and stable cutting can be achieved.

[0032] According to the above configuration, upon receiving a cutting start command, the cutting machine 12 approaches the cutting position after ignition and begins cutting. At this time, since the steel bars on the cooling bed are fitted into the grooves of the straightening bed 21 and the rake, the machine can approach the steel bars fitted into the grooves as the target.

[0033] With the above configuration, the position of the tail end of the steel bar is measured (detected) by the position measuring device 80, and the deviation of the steel bar from the expected position is detected by the detection unit 60, and the cutting position of the steel bar is automatically calculated. Therefore, even if the longitudinal stopping position of the steel bar on the cooling bed is shifted due to the friction between the equipment and the steel bar, the steel bar can be cut at the appropriate position (target position).

[0034] A characteristic of steel bars on a cooling bed is that they may experience tail bends during cutting, and bending, warping, and twisting during the cooling process, mainly in angle steel and channel steel. This can cause the steel bars to shift (float) relative to the grooves in the cooling bed. With the above configuration, by scanning the profile of the part to be cut with the position displacement detection device (detection unit 60) (see Figure 4), warping, twisting, and bending of the steel bars on the cooling bed equipment can be detected, and the cutting path can be corrected to match the position of the steel bars. When an operator cuts steel bars, they cut according to the actual bending, warping, and twisting of the bar. However, with this embodiment, the drawbacks of mechanical robotic cutting, which require reliance on human visual information, can be overcome.

[0035] With the above configuration, since the cutting machine 12 and the hand unit 13 are integrated at the end of the arm 14, there is no need to change tools or the like between cutting and unloading the steel bar, and the cutting and unloading of the sample can be performed continuously in a series of operations, minimizing the downtime of the cooling bed equipment (time required for changing tools, etc.).

[0036] According to the above configuration, the device is equipped with a claw portion (fork) 132 for scooping up the sample after cutting and a clamp portion 133 for clamping the sample after it has been scooped up. The claw portion 132 is configured to be inserted into the gap between the cooling beds, which allows for smooth removal of the sample.

[0037] The quality of sample cutting depends on cutting conditions (e.g., cutting speed, cutting angle, nozzle height, fluid flow rate, etc.) and equipment conditions (e.g., nozzle wear and blockage, etc.). If a cutting failure occurs, for example, 100m of product may remain connected to the sample. If the sample is removed by a robot in this state, it can lead to yield loss due to bending of the product material, transport malfunctions in the cooling bed equipment, overload of the robot arm, and equipment damage. With the above configuration, the detection unit 60 determines whether the sample and product material are completely separated during the sample removal operation. If they are not completely separated, it performs a recut and outputs an alarm, thus eliminating the above-mentioned problems.

[0038] The steel bar sample collection device of this embodiment includes an articulated robot having a cutting machine at the end of its arm for cutting a portion of a steel bar on a cooling bed to collect a sample, and a hand unit for transporting the cut sample; a control device for controlling the operation of the articulated robot; and a cutting determination device that, after the cutting operation by the cutting machine is completed, determines whether the portion of the steel bar has been cut normally, outputs a completion signal if it has been cut normally, and outputs a failure signal if it has not been cut normally. The control device, upon receiving the completion signal, controls the articulated robot so that the hand unit transports the sample, and upon receiving the failure signal, outputs an alarm signal and controls the articulated robot so that the cutting machine performs a recut.

[0039] The steel bar sample collection device of this embodiment includes a detection unit that detects the position of the remaining portion of the steel bar after cutting by the cutting machine, and the cutting determination device determines whether the remaining portion remains on the cooling bed based on the position detected by the detection unit when the articulated robot lifts the sample, and outputs the completion signal if it determines that the remaining portion remains on the cooling bed, and outputs the failure signal if it determines that the remaining portion does not remain on the cooling bed.

[0040] In the steel bar sample collection device of this embodiment, the hand portion comprises a rod-shaped support portion, a plurality of claw portions provided at appropriate distances from the support portion and extending in the same direction, and clamp portions provided corresponding to at least two of the plurality of claw portions for clamping the sample placed on the claw portions between the claw portions and the clamp portions.

[0041] In the steel bar sample collection device of this embodiment, the claw portion is substantially L-shaped and has an edge portion on which the sample is placed.

[0042] In the steel bar sample collection device of this embodiment, the separation dimension of the claw portion is the pitch of the gaps present in the cooling bed.

[0043] In the steel bar sample collection device of this embodiment, the claw portion is plate-shaped and can be inserted into the gaps present in the cooling bed.

[0044] The steel bar sample collection apparatus of this embodiment includes a cutting position detection device that includes a position measuring device for measuring the position data of the steel bar stopped on the cooling bed, and the control device calculates the cutting position of the steel bar based on the position data and controls the articulated robot to cut the steel bar at the cutting position using the cutting machine.

[0045] The steel bar sample collection device of this embodiment includes a cutting position detection device that detects the deviation of the cutting position from an assumed position in a plane perpendicular to the longitudinal direction of the steel bar due to at least one of bending, twisting, and warping of the steel bar.

[0046] The steel bar sample collection method of this embodiment involves, after the cutting operation of a portion of the steel bar on the cooling bed by a cutting machine equipped on an articulated robot is completed, determining whether the portion of the steel bar has been cut normally, outputting a completion signal if it has been cut normally, outputting a failure signal if it has not been cut normally, controlling the articulated robot to remove the cut sample with the hand unit equipped on the articulated robot if the completion signal has been output, and outputting an alarm signal and controlling the articulated robot to perform a recut with the cutting machine if the failure signal has been output, at least one of the following is performed.

[0047] The embodiments disclosed above should be considered in all respects to be illustrative and not restrictive. The scope of the present invention is indicated by the claims rather than by the embodiments above and is intended to include all modifications and variations in the sense and scope equivalent to the claims. [Explanation of Symbols]

[0048] 10 Articulated Robots 12 cutting machine 13 Hand section 131 Support part 132 Nail area 132a Edge 133 Clamp section 14 Arms 20 Cooling bed equipment 21 Orthodontic floor 22 movable rake 23 Fixed Lake 24 Gap 30-bar steel 50 Control device 60 Detection unit 70 Cutting judgment device 80 Position measuring device

Claims

1. A multi-joint robot having a cutting machine at the end of the arm for cutting a portion of a steel bar on a cooling bed to collect a sample, and a hand for transporting the cut sample, A control device for controlling the movement of the articulated robot, After the cutting operation by the cutting machine is completed, when the articulated robot lifts the sample, the cutting determination device determines whether a portion of the steel bar has been cut properly by determining whether the remaining portion of the steel bar remains on the cooling bed, outputs a completion signal if it is determined that the remaining portion remains on the cooling bed and the cut was performed properly, and outputs a failure signal if it is determined that the remaining portion does not remain on the cooling bed and the cut was not performed properly. Equipped with, The control device is When the completion signal is received, the hand unit controls the articulated robot to unload the sample. When the aforementioned failure signal is received, at least one of the following is performed: output an alarm signal and control the articulated robot to cause the cutting machine to perform a recut. Steel bar sample collection device.

2. The articulated robot is equipped with a detection unit that detects the position of the remaining portion of the steel bar after cutting by the cutting machine, The cutting determination device is When the articulated robot performs the lifting operation of the sample, the detection unit determines whether or not the residual portion remains on the cooling bed based on the position detected by the detection unit. The steel bar sample collection apparatus according to claim 1.

3. The aforementioned hand portion is A rod-shaped support part, The support portion is provided with a plurality of claw portions that are spaced appropriately apart and extend in the same direction, A clamp portion is provided corresponding to at least two of the plurality of claw portions for clamping the sample placed on the claw portions between itself and the claw portions. Equipped with, A steel bar sample collection apparatus according to claim 1 or claim 2.

4. The aforementioned claw portion is It is roughly L-shaped and has an edge portion on which the sample is placed. The steel bar sample collection apparatus according to claim 3.

5. The separation dimension of the claw portion is, The pitch of the gaps present in the cooling bed is A steel bar sample collection apparatus according to claim 3 or claim 4.

6. The aforementioned claw portion is It is plate-shaped and can be inserted into the gaps present in the cooling bed. A steel bar sample collection device according to any one of claims 3 to 5.

7. The cutting position detection device includes a position measuring device that measures position data of the steel bar stopped on the cooling bed, The control device is Based on the position data, the cutting position of the steel bar is calculated, and the articulated robot is controlled to cut the steel bar at the cutting position using the cutting machine. A steel bar sample collection apparatus according to any one of claims 1 to 6.

8. The cutting position detection device includes a position deviation detection device that detects the deviation of the cutting position from an assumed position in a plane perpendicular to the longitudinal direction of the steel bar due to at least one of bending, twisting, and warping of the steel bar. The steel bar sample collection apparatus according to claim 7.

9. After the cutting operation of a portion of the steel bar on the cooling bed is completed by the cutting machine equipped on the articulated robot, when the articulated robot lifts the sample, it is determined whether the remaining portion of the steel bar is still on the cooling bed, thereby determining whether the portion of the steel bar has been cut successfully. If it is determined that the residual portion remains on the cooling bed and has been cut successfully, a completion signal is output. If it is determined that the residual portion did not remain on the cooling bed and was not properly cut, a failure signal is output. When the completion signal is output, the articulated robot is controlled to remove the cut sample using the hand portion of the articulated robot. If the aforementioned failure signal is output, at least one of the following is performed: output an alarm signal and control the articulated robot to perform re-cutting with the cutting machine. Method for collecting steel bar samples.

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