Steel structure profile steel carrying manipulator

Abstract

The invention provides a steel structure profile steel carrying manipulator, and relates to the technical field of steel structures, the steel structure profile steel carrying manipulator comprises a moving frame, the lower end of the moving frame is provided with moving wheels, the upper surface of the moving frame is fixedly connected with a motor protection shell, and the lower surface of the upper end of the moving frame is fixedly connected with a guide sleeve. According to the steel structure profile steel carrying manipulator, the limiting opening angle clamping jaw capable of rotating is arranged, so that the clamping push rod can push the limiting opening angle clamping jaw to be opened to a proper angle, the limiting opening angle clamping jaw can adapt to steel structure frames of various sizes and different shapes, and the limiting opening angle clamping jaw rotates to be opened to be supported below the frames; according to the clamping and grabbing device for the steel structure frames, the steel structure frames can be erected to achieve the grabbing effect, the effect that the steel structure frames of different sizes and shapes are lifted up and grabbed without squeezing and damaging frame materials is achieved, and the problem that the structures of the frames are prone to being squeezed and damaged when the steel structure frames of different sizes are clamped and grabbed is solved.

Description

Technical Field

[0001] The invention relates to the technical field of steel structures, in particular to a steel structure section steel handling manipulator. Background Art

[0002] Steel is a strip of steel with a certain cross-sectional shape and size. It is one of the four major types of steel (plate, tube, profile, wire). According to the cross-sectional shape, steel is divided into simple cross-sectional steel and complex cross-sectional steel (special-shaped steel). The former refers to square steel, round steel, flat steel, angle steel, hexagonal steel, etc., and the latter refers to I-beams, channel steel, rails, window frame steel, curved steel, etc. It is difficult to transport steel structures after assembly, which may cause danger.

[0003] Chinese patent announcement number CN104908032B discloses an integrated manipulator structure, including a manipulator body, a two-device handling structure and a plug-in board handling structure; the manipulator body is provided with a connecting flange, a first mounting frame and a second mounting frame; wherein the connecting flange is arranged at the uppermost part of the manipulator body, and the second mounting frame is arranged on one side of the first mounting frame; the manipulator body is connected to the robot through the connecting flange; the two-device handling structure is installed on the manipulator body through the first mounting frame; the plug-in board handling structure is installed on the manipulator body through the second mounting frame. This solution uses an integrated manipulator structure to simultaneously complete the two-device handling and the plug-in board handling, and replaces the process that was previously completed manually with an automated operation, which reduces the labor intensity of workers, improves the working environment of workers, and improves the handling efficiency.

[0004] When transporting a steel structure frame, a mobile device needs to be placed under the frame for movement. A higher frame is prone to tipping over when tilted and needs to be lifted for transportation. However, most steel structure frames are composed of hollow steel pipes or square steel connections. Extrusion and clamping can easily damage the structure of the frame. In addition, the frame structures composed of steel structures are of different sizes and are not convenient to grasp. In addition, since the frame is relatively high, the grasping position needs to be constantly adjusted. Therefore, a specific manipulator is required for the transportation of the steel structure frame. For this purpose, a steel structure steel handling manipulator is proposed. Summary of the invention

[0005] In view of the deficiencies in the prior art, the present invention provides a steel structure steel handling robot, which solves the problems raised in the above background technology.

[0006] To achieve the above objectives, the present invention is implemented through the following technical scheme: a steel structure steel handling manipulator comprises a moving frame, a moving wheel is arranged at the lower end of the moving frame, a motor protection shell is fixedly connected to the upper surface of the moving frame, a guide sleeve is fixedly connected to the lower surface of the upper end of the moving frame, a lifting motor is fixedly connected to the inner side of the motor protection shell, a lifting motor is fixedly connected to the output end of the lifting motor, a lifting threaded rod is fixedly connected to the output end of the lifting motor, a lifting column is meshed on the outer surface of the lifting threaded rod, a linkage platform is arranged on the surface of the lifting column, a lifting claw is slidably connected to the outer side of the lifting column, an adjustment sleeve is slidably connected to the outer side of the lifting column, the adjustment sleeve is connected to the lifting claw, a lifting platform is fixedly connected to the lower end of the lifting column, a tensioning column is fixedly connected to the upper surface of the lifting platform, a limited tensioning claw is hinged on the upper end of the tensioning column, a tensioning motor is arranged on the outer surface of the lifting platform, a lifting push plate is arranged at the output end of the tensioning motor, a positioning push rod is contacted with the outer side of the lifting push plate, the positioning push rod is on the inner side of the tensioning column, and the positioning push rod is slidably connected to the limited tensioning claw.

[0007] Preferably, the lifting column includes a square column and a positioning plate, the outer sides of the square column are all provided with sliding grooves, the positioning plate is fixedly connected to the square column, the upper end surface of the square column is provided with a threaded hole, and the outer surface of the positioning plate is slidably connected to the inner wall of the guide sleeve.

[0008] Preferably, the linkage platform includes a lifting platform, a first hydraulic rod, a second hydraulic rod and an adjustment platform. The first hydraulic rod is fixedly connected to the surface of the positioning plate, the free end of the first hydraulic rod is fixedly connected to the lifting platform, the upper end of the second hydraulic rod is a free end and is fixedly connected to the adjustment platform, and the lower end of the second hydraulic rod is fixedly connected to the upper surface of the lifting platform.

[0009] Preferably, the lifting clamp includes a lifting finger sleeve, a bending finger and a first lifting rod, the lifting finger sleeve is sleeved on the outside of the lifting column, the bending finger is rotatably connected on the inside of the lifting finger sleeve, the surface array of the bending finger is provided with anti-slip keys, the first lifting rod is slidingly connected to the inner wall of the side slide groove of the lifting column, the upper end of the first lifting rod is fixedly connected to the lifting platform, and the lower end of the first lifting rod is fixedly connected to the lifting finger sleeve.

[0010] Preferably, the adjustment pull sleeve includes an adjusting ring, a push-pull connecting rod and a second lifting rod. The adjusting ring is sleeved on the outside of the lifting column, the first lifting rod passes through the inside of the adjusting ring, one end of the push-pull connecting rod is rotatably connected to the adjusting ring, and the other end is rotatably connected to the bending finger, the lower end of the second lifting rod is fixedly connected to the adjusting ring, the second lifting rod is slidably connected to the inner wall of the side slide groove of the lifting column, and the upper end of the second lifting rod is fixedly connected to the adjustment platform.

[0011] Preferably, there are four groups of the corner columns and their appearance is square columns. The upper ends of the corner columns are rotatably connected to the limiting corner clamps. A movable groove is opened on the outer side of the corner column, and a blocking key is arranged on the inner side of the movable groove.

[0012] Preferably, the position-limiting angle clamping jaw is in the shape of an elongated strip, anti-slip teeth are arranged on the outer surface of the position-limiting angle clamping jaw, and a matching sliding groove is arranged on the side surface of the position-limiting angle clamping jaw.

[0013] Preferably, the positioning push rod includes a push bar and a matching sleeve, the push bar is rotatably connected to the matching sleeve, the matching sleeve is slidably connected to the matching slide groove, the outer surface of the push bar is provided with a ratchet, the push bar passes through the inner side of the movable groove, and the ratchet of the push bar is engaged with the blocking key.

[0014] Preferably, the outer surface of the lifting push plate is spiral-shaped, and the lifting push plate can push the pushing bar to lift while rotating and pushing the pushing bar.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] 1. The steel structure steel handling manipulator is provided with a rotatable limit angle clamp, so that the positioning push rod can push the limit angle clamp to open to a suitable angle, so that the limit angle clamp can adapt to steel structure frames of various sizes and shapes. The limit angle clamp is rotated and opened to lift up the bottom of the frame, so that the steel structure frame can be erected to achieve the effect of being grasped. Anti-skid teeth are provided on the surface of the limit angle clamp so that the steel structure frame contacted by the surface of the limit angle clamp will not slip, so that the effect of lifting and grasping steel structure frames of different sizes and shapes is achieved without squeezing and damaging the frame materials, and the problem of squeezing and damaging the structure of the frame when clamping and grasping steel structure frames of different sizes is solved.

[0017] 2. The steel structure steel handling manipulator is provided with a lifting claw so that the lifting claw can be adjusted in height, so that the grasped steel structure frame can be lifted again, and the grasping position of the grasped steel structure frame can be continuously changed by the cooperation of the limiting angle clamp and the lifting claw, so that the grasping position of the steel structure frame can be continuously adjusted after being grasped, thereby solving the problem that the grasping position of the steel structure frame cannot be adjusted after being grasped.

[0018] 3. The steel structure steel handling robot, by setting the outer surface of the lifting push plate into a spiral shape, enables the positioning push rod to have an upward lifting force when being pushed, and the positioning push rod is pushed and lifted to change the position of the engagement with the blocking key, so that the limiting angle clamp can be continuously pushed out and opened, and at the same time, the limiting angle clamp, the angle column and the pushing bar form a triangle. When the limiting angle clamp is subjected to force, the force of the hypotenuse of the triangle is transmitted to the pushing bar, and the pushing bar will be blocked by the blocking key and will not retreat, so that the steel structure frame is grasped more firmly, solving the problem that the steel structure frame composed of round tubes or square steels is easily squeezed and deformed when clamped. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0020] Figure 2 It is a schematic diagram of the overall structure of the robot of the present invention;

[0021] Figure 3 This is a schematic diagram of the lifting clamp structure of the present invention;

[0022] Figure 4 This is a schematic diagram of adjusting the position of the platform of the present invention;

[0023] Figure 5 This is a schematic diagram of the structure of the position-limiting angle clamping jaw of the present invention;

[0024] Figure 6 This is a schematic diagram of the push bar structure of the present invention;

[0025] Figure 7 This is a schematic diagram of the lifting and pushing plate structure of the present invention;

[0026] Figure 8 It is a schematic diagram of the bending finger structure of the present invention.

[0027] In the figure: moving frame-1, motor protection shell-2, guide sleeve-3, lifting motor-4, lifting threaded rod-5, lifting column-6, square column-61, positioning plate-62, linkage platform-7, rising platform-71, first hydraulic rod-72, second hydraulic rod-73, adjustment platform-74, lifting clamping claw-8, lifting finger sleeve-81, bending finger-82, first lifting rod-83, adjustment pull sleeve-9, adjustment ring-91, push-pull connecting rod-92, second lifting rod-93, lifting platform-10, angle column-11, movable groove-111, blocking key-112, limit angle clamping claw-12, anti-slip teeth-121, matching slide groove-122, angle motor-13, lifting push plate-14, positioning push rod-15, push bar-151, matching slide sleeve-152. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0029] It should be noted that all directional indications in the embodiments of the present application are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0030] In this application, unless otherwise clearly specified and limited, the terms "connection", "fixation", etc. should be understood in a broad sense. For example, "fixation" 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, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0031] In addition, in this application, descriptions such as "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in this field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0032] like Figure 1-8 As shown, a steel structure steel handling robot comprises a moving frame 1, a moving wheel is arranged at the lower end of the moving frame 1, a motor protective shell 2 is fixedly connected to the upper surface of the moving frame 1, a guide sleeve 3 is fixedly connected to the lower surface of the upper end of the moving frame 1, a lifting motor 4 is fixedly connected to the inner side of the motor protective shell 2, a lifting threaded rod 5 is fixedly connected to the output end of the lifting motor 4, a lifting column 6 is meshed on the outer surface of the lifting threaded rod 5, the lifting column 6 comprises a square column 61 and a positioning plate 62, sliding grooves are arranged on the four sides of the outer side of the square column 61, the positioning plate 62 is fixedly connected to the square column 61, a threaded hole is arranged on the upper end surface of the square column 61, the outer surface of the positioning plate 62 is slidably connected to the inner wall of the guide sleeve 3, and the lifting column 6 can realize the lifting effect along the inner wall of the guide sleeve 3 driven by the lifting threaded rod 5.

[0033] A linkage platform 7 is provided on the surface of the lifting column 6, and the linkage platform 7 includes a rising platform 71, a first hydraulic rod 72, a second hydraulic rod 73 and an adjusting platform 74. The first hydraulic rod 72 is fixedly connected to the surface of the positioning plate 62, and the free end of the first hydraulic rod 72 is fixedly connected to the rising platform 71, the upper end of the second hydraulic rod 73 is a free end and is fixedly connected to the adjusting platform 74, and the lower end of the second hydraulic rod 73 is fixedly connected to the upper surface of the rising platform 71. The linkage platform 7 can change the height of the rising platform 71 on the surface of the lifting column 6 by the drive of the first hydraulic rod 72, and the distance between the rising platform 71 and the adjusting platform 74 can be adjusted by the drive of the second hydraulic rod 73.

[0034] A lifting claw 8 is slidably connected to the outer side of the lifting column 6, and the lifting claw 8 includes a lifting finger sleeve 81, a bending finger 82 and a first lifting rod 83. The lifting finger sleeve 81 is sleeved on the outer side of the lifting column 6, and the bending finger 82 is rotatably connected to the inner side of the lifting finger sleeve 81. The surface array of the bending finger 82 is provided with anti-skid keys, and the first lifting rod 83 is slidably connected to the inner wall of the side slide groove of the lifting column 6. The upper end of the first lifting rod 83 is fixedly connected to the lifting platform 71, and the lower end of the first lifting rod 83 is fixedly connected to the lifting finger sleeve 81. The lifting claw 8 can grab and lift the steel structure frame when it is opened, and by arranging anti-skid keys on the surface of the bending finger 82, the steel structure frame is not easy to slide when it is grabbed and lifted, so that the grabbing is more stable.

[0035] An adjustment sleeve 9 is slidably connected to the outer side of the lifting column 6, and the adjustment sleeve 9 is connected to the lifting clamp 8. The adjustment sleeve 9 includes an adjustment ring 91, a push-pull connecting rod 92 and a second lifting rod 93. The adjustment ring 91 is sleeved on the outer side of the lifting column 6, and the first lifting rod 83 passes through the inner side of the adjustment ring 91. One end of the push-pull connecting rod 92 is rotatably connected to the adjustment ring 91, and the other end is rotatably connected to the bending finger 82. The lower end of the second lifting rod 93 is fixedly connected to the adjustment ring 91, and the second lifting rod 93 is slidably connected to the inner wall of the side slide groove of the lifting column 6. The upper end of the second lifting rod 93 is fixedly connected to the adjustment platform 74. The adjustment sleeve 9 can slide up and down on the surface of the lifting column 6 so that the bending finger 82 can be pulled open and closed, and the adjustment sleeve 9 can control the opening and closing of the lifting clamp 8.

[0036] The lower end of the lifting column 6 is fixedly connected to a lifting platform 10, and a corner column 11 is fixedly connected to the upper surface of the lifting platform 10. A limited corner clamp 12 is hinged on the upper end of the corner column 11, and a corner motor 13 is arranged on the outer surface of the lifting platform 10. The limited corner clamp 12 is in the shape of a long strip, and anti-slip teeth 121 are arranged on the outer surface of the limited corner clamp 12. Matching slide grooves 122 are arranged on the side of the limited corner clamp 12. The limited corner clamp 12 prevents sliding displacement when lifting the steel structure frame by arranging anti-slip teeth 121 on the surface. The corner columns 11 are arranged at the four corners of the lifting platform 10, and the limited corner clamp 12 is respectively arranged on the two outer surfaces of the corner column 11, so that the limited angle clamp 12 can grasp the lifting frame more securely and can adapt to frame structures of various sizes and shapes.

[0037] A lifting push plate 14 is provided at the output end of the angle-expanding motor 13, and a positioning push rod 15 is in contact with the outer side of the lifting push plate 14. The positioning push rod 15 is on the inner side of the angle-expanding column 11. The positioning push rod 15 includes a pushing bar 151 and a matching sleeve 152. The pushing bar 151 is rotatably connected with the matching sleeve 152, and the matching sleeve 152 is slidably connected with the matching slide groove 122. A ratchet is provided on the outer surface of the pushing bar 151, and the pushing bar 151 passes through the inner side of the movable groove 111. The ratchet of the pushing bar 151 is engaged with the blocking key 112. The positioning push rod 15 is provided with the matching sleeve 152, so that the limiting angle-expanding clamp 12 can still be firmly connected during rotation. By providing a ratchet on the surface of the pushing bar 151, the pushing bar 151 can be engaged with the blocking key 112 to prevent reverse movement, so that it can firmly support the limiting angle-expanding clamp 12.

[0038] There are four groups of angle columns 11 and their appearance is square column. The upper end of the angle column 11 is rotatably connected to the limiting angle clamp 12. A movable groove 111 is opened on the outer side of the angle column 11, and a blocking key 112 is arranged on the inner side of the movable groove 111. The angle column 11 can limit the movable position and range of the push bar 151 by setting the movable groove 111, and the blocking key 112 is arranged on the inner side of the movable groove 111 to prevent the push bar 151 from sliding in the opposite direction when pushing the limiting angle clamp 12.

[0039] The positioning push rod 15 is slidably connected to the limiting angle clamp 12, and the outer surface of the lifting push plate 14 is spiral. The lifting push plate 14 can push the pushing bar 151 to lift while rotating and pushing the pushing bar 151. The lifting push plate 14 has a spiral outer surface, so that during the rotation process, it can lift the pushing bar 151 to pass over the blocking key 112 while pushing the pushing bar 151 to move horizontally.

[0040] When in use, first move the mobile frame 1 to the upper end of the steel structure frame that needs to be transported, and start the lifting motor 4 to drive the lifting threaded rod 5 to rotate, so that the lifting column 6 slides downward on the inner side of the guide sleeve 3, so that the lifting column 6 drives the lifting platform 10 and the lifting claw 8 and the limiting angle clamping claw 12 to descend, so that the lifting claw 8 and the limiting angle clamping claw 12 are lowered to the inner side of the steel structure frame, and the lifting push plate 14 is driven to rotate by starting the angle motor 13, so that the lifting push plate 14 rotates to push the pushing bar 151, and at the same time follows the rotation of the lifting push plate 14. The pushing bar 151 is pushed and lifted up to pass the blocking key 112 of the angle column 11, so that the positioning push rod 15 pushes the limiting angle clamping claw 12 on the surface of the angle column 11 Rotate and open, and use the blocking key 112 inside the movable groove 111 of the angle column 11 to block the positioning push rod 15 from sliding in the opposite direction, until the limited angle clamping claw 12 opens to a suitable angle, so that the limited angle clamping claw 12 stretches to block the steel structure frame from falling, and at the same time start the second hydraulic rod 73 to change the distance between the adjustment platform 74 and the lifting platform 71, so as to use the second lifting rod 93 to change the height of the adjustment ring 91 on the surface of the lifting column 6, so that the bending finger 82 is pushed to open by the push-pull connecting rod 92, and start the lifting motor 4 to drive the lifting column 6 to rise, so that the lifting clamping claw 8 and the limited angle clamping claw 12 are clamped on the inner side of the steel structure frame through the opening support, so that as the lifting column 6 rises, the steel structure frame is grabbed and raised;

[0041] When the steel structure frame needs to adjust the grabbing position after it is lifted up, the first hydraulic rod 72 is started to drive the lifting platform 71 close to the positioning plate 62. At the same time, the lifting platform 71 uses the first lifting rod 83 to drive the lifting finger sleeve 81 to rise along the lifting column 6, so that the bending finger 82 hooks the steel structure frame to rise, so that the steel structure frame continues to rise for a distance on the original basis. At the same time, when the steel structure frame rises, the lifting push plate 14 keeps pushing the pushing bar 151 to lift, preventing the pushing bar from being pushed up. 151 is engaged with the blocking key 112. When the positioning push rod 15 is not blocked, the gravity of the limiting angle clamp 12 is applied to the positioning push rod 15 to shrink and reset it, thereby preventing the limiting angle clamp 12 from blocking the rising steel structure frame after opening. When the steel structure frame rises to the ideal position, the limiting angle clamp 12 is pushed open again to support and erect the steel structure frame, so that the lifting clamp 8 is reset. If it is necessary to continue lifting the steel structure frame, the above actions can be repeated to lift the steel structure frame step by step.

[0042] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "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 present application. 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.

[0043] In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the fact that they can be implemented by ordinary technicians in this field. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0044] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A steel structure steel handling manipulator, comprising a moving frame (1), wherein the lower end of the moving frame (1) is provided with moving wheels, and wherein: The upper surface of the movable frame (1) is fixedly connected to a motor protection shell (2), the lower surface of the upper end of the movable frame (1) is fixedly connected to a guide sleeve (3), the inner side of the motor protection shell (2) is fixedly connected to a lifting motor (4), the output end of the lifting motor (4) is fixedly connected to a lifting threaded rod (5), the outer surface of the lifting threaded rod (5) is meshed with a lifting column (6), the surface of the lifting column (6) is provided with a linkage platform (7), the outer side of the lifting column (6) is slidably connected to a lifting claw (8), the outer side of the lifting column (6) is slidably connected to an adjustment sleeve (9), and the adjustment sleeve (9) is connected to The lifting platform (10) is fixedly connected to the lifting clamp (8), the lower end of the lifting column (6) is fixedly connected to the lifting platform (10), the upper surface of the lifting platform (10) is fixedly connected to the angle column (11), the upper end of the angle column (11) is hinged with a limited angle clamp (12), the outer surface of the lifting platform (10) is provided with an angle motor (13), the output end of the angle motor (13) is provided with a lifting push plate (14), the outer side of the lifting push plate (14) is in contact with a positioning push rod (15), the positioning push rod (15) is on the inner side of the angle column (11), and the positioning push rod (15) is slidably connected to the limited angle clamp (12).

2. A steel structure steel handling manipulator according to claim 1, characterized in that: The lifting column (6) comprises a square column (61) and a positioning plate (62). The outer four sides of the square column (61) are all provided with sliding grooves. The positioning plate (62) is fixedly connected to the square column (61). The upper end surface of the square column (61) is provided with a threaded hole. The outer surface of the positioning plate (62) is slidably connected to the inner wall of the guide sleeve (3).

3. A steel structure steel handling manipulator according to claim 2, characterized in that: The linkage platform (7) comprises a lifting platform (71), a first hydraulic rod (72), a second hydraulic rod (73) and an adjustment platform (74); the first hydraulic rod (72) is fixedly connected to the surface of the positioning plate (62); the free end of the first hydraulic rod (72) is fixedly connected to the lifting platform (71); the upper end of the second hydraulic rod (73) is a free end and is fixedly connected to the adjustment platform (74); and the lower end of the second hydraulic rod (73) is fixedly connected to the upper surface of the lifting platform (71).

4. A steel structure steel handling manipulator according to claim 3, characterized in that: The lifting clamp (8) comprises a lifting finger sleeve (81), a bending finger (82) and a first lifting rod (83); the lifting finger sleeve (81) is sleeved on the outside of the lifting column (6); the bending finger (82) is rotatably connected to the inside of the lifting finger sleeve (81); an array of anti-slip keys are arranged on the surface of the bending finger (82); the first lifting rod (83) is slidably connected to the inner wall of the side sliding groove of the lifting column (6); the upper end of the first lifting rod (83) is fixedly connected to the lifting platform (71); and the lower end of the first lifting rod (83) is fixedly connected to the lifting finger sleeve (81).

5. A steel structure steel handling manipulator according to claim 4, characterized in that: The adjusting pull sleeve (9) comprises an adjusting ring (91), a push-pull connecting rod (92) and a second lifting rod (93); the adjusting ring (91) is sleeved on the outer side of the lifting column (6); the first lifting rod (83) passes through the inner side of the adjusting ring (91); one end of the push-pull connecting rod (92) is rotatably connected to the adjusting ring (91), and the other end is rotatably connected to the bending finger (82); the lower end of the second lifting rod (93) is fixedly connected to the adjusting ring (91); the second lifting rod (93) is slidably connected to the inner wall of the side sliding groove of the lifting column (6); and the upper end of the second lifting rod (93) is fixedly connected to the adjusting platform (74).

6. A steel structure steel handling manipulator according to claim 1, characterized in that: There are four groups of the corner columns (11) and they are in the shape of square columns. The upper ends of the corner columns (11) are rotatably connected to the limiting corner clamps (12). A movable groove (111) is provided on the outer side of the corner columns (11), and a blocking key (112) is provided on the inner side of the movable groove (111).

7. A steel structure steel handling manipulator according to claim 1, characterized in that: The position-limiting angle clamping jaw (12) is in the shape of an elongated strip, the outer surface of the position-limiting angle clamping jaw (12) is provided with anti-slip teeth (121), and the side surface of the position-limiting angle clamping jaw (12) is provided with a matching sliding groove (122).

8. A steel structure steel handling manipulator according to claim 6, characterized in that: The locking push rod (15) comprises a push bar (151) and a matching sliding sleeve (152), the push bar (151) is rotatably connected to the matching sliding sleeve (152), the matching sliding sleeve (152) is slidably connected to the matching sliding groove (122), the outer surface of the push bar (151) is provided with ratchet teeth, the push bar (151) passes through the inner side of the movable groove (111), and the ratchet teeth of the push bar (151) are engaged with the blocking key (112).

9. A steel structure steel handling manipulator according to claim 8, characterized in that: The outer surface of the lifting push plate (14) is spiral-shaped, and the lifting push plate (14) can push the pushing bar (151) to lift while rotating.

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