Short-distance steel carrying device

Abstract

The invention discloses a short-distance steel carrying device, and belongs to the technical field of steel pipe carrying, the short-distance steel carrying device comprises a hard arm power-assisted manipulator, a friction part and a locking part, the hard arm power-assisted manipulator comprises a fixed column, the upper end of the fixed column is rotatably connected with a rotating column, and the upper end of the rotating column is rotatably connected with a parallel arm; a rotating arm is rotationally connected to the parallel arm, a connecting arm is rotationally connected to the lower side of the rotating arm, a clamping jaw mechanism is connected to the lower end of the connecting arm, a rotating disc is fixed to the rotating position of the lower end of a rotating column, and an arc-shaped toothed plate and an annular toothed plate are always kept in a stable state after being locked and are not affected by loss of a friction block any more. The whole structure of the hard-arm power-assisted manipulator is stable and reliable; through close fit of a rubber block in the friction part and the rotating disc and exquisite linkage of all the parts, proper resistance is provided for the rotating column, the parallel arm, the rotating arm and the connecting arm, random rotation of the rotating column, the parallel arm, the rotating arm and the connecting arm is effectively prevented, and the personal safety coefficient of an operator in the steel carrying process is greatly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of steel pipe handling, and particularly to a short-distance steel material handling device. Background Art

[0002] In modern industrial production, especially in fields such as steel, construction, and machinery manufacturing, the handling of steel pipes is an extremely frequent and crucial operation link. With the continuous expansion of the industrial scale and the increasing demand for production efficiency, the hard-arm assisted manipulator (1) has emerged. With its strong structure, diverse power options, adaptable grasping fixtures, and intelligent control system, the hard-arm assisted manipulator plays an irreplaceable role in steel pipe handling and many industrial material handling fields, helping enterprises embark on a new journey of efficient and intelligent production.

[0003] The hard-arm assisted manipulator usually consists of a support base and multiple auxiliary support arms. The auxiliary support arms are connected by a rotating shaft and then operate in coordination. The current stabilization method is to rely on the friction block to contact the rotating shaft to generate friction force to maintain the stability of the rotating shaft and then fix the multiple auxiliary support arms. However, this stabilization method relying on friction force has obvious defects. On the one hand, due to relying only on friction force, the rotating shaft cannot be completely locked. During the operation of the robotic arm, the rotating shaft may have a small displacement, affecting the positioning accuracy of the auxiliary support arm and thus interfering with the accuracy of the handling operation. On the other hand, with long-term frequent use, the friction block will inevitably wear, resulting in a gradual decrease in the friction force between it and the rotating shaft. Once the friction force is insufficient, the fixing effect of the auxiliary support arm will be greatly reduced, and the overall structural stability of the robotic arm will deteriorate. It not only cannot ensure the stable handling of steel pipes but may even pose a safety hazard, which is not conducive to the continuous and efficient use of multiple auxiliary support arms of the hard-arm assisted manipulator in industrial scenarios. Summary of the Invention

[0004] The purpose of the present invention is to solve the problem of the friction force mentioned in the above background art, where the rotating shaft cannot be completely locked. During the operation of the robotic arm, the rotating shaft may have a small displacement, affecting the positioning accuracy of the auxiliary support arm and thus interfering with the accuracy of the handling operation.

[0005] To achieve the above purpose, the present invention adopts the following technical solutions: A short-distance steel handling device, comprising: a rigid-arm assisted manipulator, a friction component, and a locking component. The rigid-arm assisted manipulator includes a fixed column, at the upper end of which a rotating column is rotatably connected. At the upper end of the rotating column, a parallel arm is rotatably connected. On the parallel arm, a rotating arm is rotatably connected. At the lower side of the rotating arm, a connecting arm is rotatably connected. At the lower end of the connecting arm, a jaw mechanism is connected. At the rotating part at the lower end of the rotating column, a turntable is fixed. Turntables are fixed to both the left side and the right end of the parallel arm. At the upper end of the connecting arm, a turntable is fixedly connected; The friction component includes support plates distributed on the upper and lower sides of the turntable. On the support plates, fixing plates are provided, and rubber blocks are fixedly connected to the fixing plates; The locking component includes an annular toothed plate and a movable arc-shaped toothed plate, and the arc-shaped toothed plate is fixedly connected to the turntable.

[0006] Preferably, a rod body is fixedly connected to the fixing plate. The rod body is slidably connected to the support plate. A first spring for adjusting pressure is sleeved on the rod body. At the end of the rod body away from the fixing plate, an anti-disengagement plate is fixed.

[0007] Preferably, the friction component further includes a fixed seat. Both support plates are slidably connected to the fixed seat. A bidirectional screw is rotatably connected to the fixed seat. Both support plates are threadedly connected to the bidirectional screw.

[0008] Preferably, two arc-shaped toothed plates are provided. On the rod body of one of the support plates, an auxiliary plate is sleeved. The auxiliary plate is located between the first spring and the support plate. At both ends of the auxiliary plate, abutting plates are abutted.

[0009] Preferably, an elastic telescopic member is fixed to the abutting plate. The elastic telescopic member includes a sleeve, which is fixedly connected to the abutting plate. A moving cylinder is slidably connected to the sleeve. The sleeve and the moving cylinder are connected by a second spring. The lower end of the moving cylinder is fixedly connected to the arc-shaped toothed plate.

[0010] Preferably, the locking components are arranged in one-to-one correspondence with the friction components. Air cylinders I are connected to both of the abutting plates.

[0011] Preferably, a linkage device is arranged between the locking components at both ends of the rotating arm. The linkage device includes a linkage member that moves up and down. Both ends of the linkage member are fixedly connected to the sleeves at the corresponding ends.

[0012] Preferably, the linkage member includes a first fixed rod and a second fixed rod. A sliding sleeve is slidably connected to the second fixed rod. A slot is formed in the sliding sleeve. At the end of the first fixed rod, a plug rod inserted into the slot is fixedly connected.

[0013] Preferably, an air cylinder II is fixed to the rotating arm. The extending end of the air cylinder II is fixedly connected to a synchronous sleeve. A synchronous plate is slidably connected longitudinally to the synchronous sleeve. The synchronous plate is fixed to the sliding sleeve.

[0014] Preferably, a lifting rod is slidably connected to the rotating arm. The lower end of the lifting rod is fixedly connected to the second fixed rod. A third spring is sleeved on the lifting rod, and two ends of the third spring are respectively connected to the lifting rod and the rotating arm.

[0015] Compared with the prior art, the present invention has the following beneficial effects: After the arc-shaped tooth plate and the annular tooth plate are locked, they always remain in a stable state and are no longer affected by the wear of the friction block. The overall structure of the hard-arm assisted manipulator is stable and reliable; Through the close cooperation between the rubber block and the turntable in the friction component, and the delicate linkage of each component, an appropriate resistance is provided for the rotating column, parallel arm, rotating arm and connecting arm, effectively preventing them from rotating randomly, and greatly improving the personal safety factor of the operator during the process of handling steel; The reliable fixing method avoids dangerous situations such as the loosening of the auxiliary support arm and the instability of the manipulator structure caused by insufficient friction, ensures the personal safety of the operator, and also protects the surrounding equipment and working environment from possible collision damage; Considering the possible failure of the first cylinder, an additional motor and a disengaging screw structure are equipped. When the first cylinder fails, the motor can be quickly started to drive the relevant components to move, so that the arc-shaped tooth plate is disengaged from the annular tooth plate, ensuring that the steel pipe handling work is not hindered, greatly reducing the downtime caused by sudden equipment failures, and ensuring the continuity of the production process; It has two operation modes. It can lock the rotating column, parallel arm, rotating arm and connecting arm together to meet the overall stability requirements; and in specific situations, such as when only the connecting arm needs to rotate flexibly to clamp the steel pipe, through the coordinated operation of the second cylinder and the linkage device, it can be quickly switched to the mode where only the connecting arm can rotate, adapting to the complex and changeable working conditions at the steel handling site and improving the practicability of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required to be used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0017] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0018] Figure 2 It is the Figure 1 enlarged schematic diagram of part A in the present invention.

[0019] Figure 3 It is a schematic diagram of the locking component of the present invention.

[0020] Figure 4 Schematic diagram of the friction component of the present invention.

[0021] Figure 5 Schematic diagram of the elastic telescopic member of the present invention.

[0022] Figure 6 Schematic diagram of Spring 1 of the present invention.

[0023] Figure 7 Schematic diagram of the hard-arm assisted manipulator of the present invention.

[0024] Figure 8 For the present invention Figure 7 Enlarged schematic diagram at position B in

[0025] Figure 9 Schematic diagram of the linkage device of the present invention.

[0026] Figure 10 Schematic diagram of the support frame and cross plate of the present invention.

[0027] Figure 11 Schematic diagram of the plug rod and sliding sleeve of the present invention.

[0028] Explanation of figure numbers: 1. Hard-arm assisted manipulator; 11. Fixed column; 12. Rotating column; 13. Parallel arm; 14. Rotating arm; 15. Connecting arm; 151. Control box; 16. Cylinder 3; 17. Jaw mechanism; 18. Turntable; 19. Connecting block; 2. Friction component; 21. Support plate; 22. Fixed plate; 23. Rubber block; 24. Rod body; 25. Spring 1; 26. Fixed seat; 27. Bidirectional screw; 3. Locking component; 31. Annular tooth plate; 32. Arc tooth plate; 33. Auxiliary plate; 34. Abutting plate; 35. Elastic telescopic member; 351. Sleeve; 352. Moving cylinder; 353. Spring 2; 4. Linkage device; 41. Support frame; 42. Cross plate; 43. Linkage member; 431. Fixed rod 1; 432. Fixed rod 2; 433. Sliding sleeve; 434. Plug rod; 44. Cylinder 2; 45. Synchronization sleeve; 46. Synchronization plate; 47. Lifting rod; 471. Limiting surface; 48. Spring 3; 5. Cylinder 1; 6. Motor; 7. Disengaging screw; 8. Disengaging plate. Detailed implementation manners

[0029] The present invention will be further described in detail below with reference to the accompanying drawings.

[0030] The following description is used to disclose the present invention so that those skilled in the art can implement the present invention. The preferred embodiments in the following description are only examples, and those skilled in the art can think of other obvious variations. The basic principles of the present invention defined in the following description can be used in other embodiments, variations, improvements, equivalent solutions, and other technical solutions without departing from the spirit and scope of the present invention.

[0031] Those skilled in the art should understand that in the disclosure of the present invention, the terms "longitudinal", "transverse", "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate the orientation or position based on the orientation or position relationship shown in the drawings. It is only for the convenience of describing the present invention and is a simplified description, rather than indicating or implying that the device or component referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, the above terms should not be construed as limiting the present invention.

[0032] It can be understood that the term "a" should be understood as "at least one" or "one or more". That is, in one embodiment, the number of an element can be one, while in other embodiments, the number of the element can be multiple. The term "a" should not be construed as limiting the quantity.

[0033] Please refer to Figure 1 - Figure 11 , a short-distance steel handling device, comprising: a hard-arm assisting manipulator 1, a friction member 2, and a locking member 3. The hard-arm assisting manipulator 1 includes a fixed column 11. The upper end of the fixed column 11 is rotatably connected to a rotating column 12. The upper end of the rotating column 12 is rotatably connected to a parallel arm 13. A rotating arm 14 is rotatably connected to the parallel arm 13. A connecting arm 15 is rotatably connected to the lower side of the rotating arm 14. A cylinder three 16 is installed on the rotating column 12. The extending end of the cylinder three 16 is rotatably connected to one end of the parallel arm 13 through a shaft rod. The cylinder three 16 enables the parallel arm 13 to swing longitudinally, thereby causing the rotating arm 14 and the connecting arm 15 to rise and fall. The lower end of the connecting arm 15 is connected to a jaw mechanism 17. The rotating part at the lower end of the rotating column 12 is fixed with a turntable 18. Turntables 18 are fixed to both the left side and the right end of the parallel arm 13. The upper end of the connecting arm 15 is fixedly connected to a turntable 18. A control box 151 is installed on the connecting arm 15. There are control buttons on the control box 151. The control button of the cylinder three 16 is located on the control box 151. The hard-arm assisting manipulator 1 is a prior art and will not be described in detail.

[0034] The friction component 2 includes support plates 21 distributed on the upper and lower sides of the turntable 18. Fixed plates 22 are arranged on the support plates 21, and rubber blocks 23 are fixedly connected to the fixed plates 22; the rubber blocks 23 abut against the turntable 18, and the contact between the rubber blocks 23 and the turntable 18 forms a resistance, so that the rotating column 12, the parallel arm 13, the rotating arm 14 and the connecting arm 15 will not rotate randomly, which is beneficial to the safety of the operator. Rod bodies 24 are fixedly connected to the fixed plates 22. There are two rod bodies 24 on one support plate 21. The rod bodies 24 are slidably connected to the support plates 21. One end of the rod bodies 24 protrudes from the support plates 21. Spring 1 25 for adjusting pressure is sleeved on the rod bodies 24. An anti-disengagement plate is fixed at the end of the rod body 24 away from the fixed plate 22, and the anti-disengagement plate prevents the rod body 24 from separating from the support plate 21.

[0035] The friction component 2 further includes a fixed seat 26. Both support plates 21 are slidably connected to the fixed seat 26. The fixed seat 26 enables the linear movement of the support plates 21. A bidirectional screw 27 is rotatably connected to the fixed seat 26. Both support plates 21 are threadedly connected to the bidirectional screw 27. The rotation of the bidirectional screw 27 makes the two support plates 21 approach or move away from each other. When the rubber blocks 23 are worn after long-term use, the spring 1 25 becomes longer. By making the two support plates 21 approach each other, the spring 1 25 is compressed and restored to compensate for the wear of the rubber blocks 23 after long-term use. Further, the friction force can also be adjusted. If the friction force is small, by making the two support plates 21 approach each other, the spring 1 25 continues to be compressed. The spring 1 25 exerts a pressure on the fixed plate 22, and the fixed plate 22 exerts a pressure on the rubber block 23, so that the friction force between the rubber block 23 and the turntable 18 increases. If the friction force is large and the rotational resistance is large, the two support plates 21 can be made to move away from each other, thereby adjusting the friction force.

[0036] The locking component 3 includes an annular toothed plate 31 and a movable arc-shaped toothed plate 32. The arc-shaped toothed plate 32 is fixedly connected to the turntable 18.

[0037] An auxiliary plate 33 is sleeved on the rod body 24 of one of the support plates 21. The auxiliary plate 33 is located between the spring 1 25 and the support plate 21. Abuttment plates 34 are abutted against both ends of the auxiliary plate 33. The movement of the abutment plates 34 can compress the spring 1 25, so that the friction force between one of the rubber blocks 23 and the turntable 18 increases, which is beneficial to locking.

[0038] An elastic telescopic member 35 is fixed to the abutment plate 34. The elastic telescopic member 35 includes a sleeve 351. The sleeve 351 is fixedly connected to the abutment plate 34. A movable cylinder 352 is slidably connected to the sleeve 351. The sleeve 351 and the movable cylinder 352 are connected by a spring 2 353. The lower end of the movable cylinder 352 is fixedly connected to the arc-shaped toothed plate 32. The spring 2 353 is located inside the sleeve 351 and the movable cylinder 352. Both ends of the spring 2 353 are connected to the sleeve 351 and the movable cylinder 352 respectively.

[0039] In one embodiment, there are two arc-shaped tooth plates 32, and the locking components 3 are arranged in one-to-one correspondence with the friction components 2. Cylinders 1 5 are connected to both abutting plates 34. The extending end of the cylinder 1 5 is fixedly connected to the extending part of the abutting plate 34. The two cylinders 1 5 act simultaneously, so that the auxiliary plate 33 can move stably. As Figure 1 shown, friction components 2, locking components 3 and two cylinders 1 5 are installed at each turntable 18. For each turntable 18, the lower end of the rotating column 12 is fixedly connected to the turntable 18. When the rotating column 12 rotates, the turntable 18 thereon rotates accordingly. A turntable 18 is fixedly connected to the left-side rotating shaft of the parallel arm 13. The right end of the parallel arm 13 is rotatably connected to a connecting block 19. The turntable 18 at the right end of the parallel arm 13 is fixedly connected to the upper side of the connecting block 19. When the parallel arm 13 rotates, the turntable 18 on its left side rotates accordingly. The turntable 18 at the right end of the parallel arm 13 moves up and down. When the connecting arm 15 rotates, the turntable 18 thereon rotates accordingly.

[0040] There is a button on the control box 151 for controlling all the cylinders 1 5. The button is located on the control box 151. When unlocking the arc-shaped tooth plate 32 and the annular tooth plate 31, it is necessary to press and hold the button. The extending rod of the cylinder 1 5 extends. After releasing the button, the extending rod of the cylinder 1 5 retracts, and the arc-shaped tooth plate 32 and the annular tooth plate 31 are locked.

[0041] Furthermore, a motor 6 is also provided. The control button of the motor 6 is also located on the control box 151. The output end of the motor 6 is fixed with a disengaging screw 7. The two cylinders 1 5 are fixed together through a disengaging plate 8. The disengaging screw 7 is threadedly connected to the disengaging plate 8. The disengaging plate 8 on the rotating arm 14 is limited by the rotating arm 14, and the other disengaging plates 8 are limited by the fixed seat 26. When the cylinder 1 5 fails, the motor 6 is started through the button, so that the disengaging plate 8 moves. The disengaging plate 8 drives the two cylinders 1 5 to move. The cylinder 1 5 drives the abutting plate 34, the elastic telescopic member 35 and the arc-shaped tooth plate 32 to move, so that the arc-shaped tooth plate 32 disengages from the annular tooth plate 31. At this time, the hard-arm assisting manipulator 1 can still work under the action of the friction component 2, without affecting the handling of steel pipes, and repairs can be carried out later when no steel pipes are being handled.

[0042] When locking is required, after releasing the button of the cylinder 1 5, the extending rod of the cylinder 1 5 retracts. The cylinder 1 5 causes the abutting plate 34 to move. The abutting plate 34 causes the elastic telescopic member 35 to move towards the annular tooth plate 31. The elastic telescopic member 35 drives the arc-shaped tooth plate 32 to move together. When the arc-shaped tooth plate 32 meshes with the annular tooth plate 31, the abutting plate 34 continues to move. The abutting plate 34 causes the sleeve 351 to move on the moving cylinder 352, and the second spring 353 is compressed. Then the abutting plate 34 contacts the auxiliary plate 33. The auxiliary plate 33 moves following the abutting plate 34. The auxiliary plate 33 compresses the first spring 25, so that the friction between the rubber block 23 and the turntable 18 becomes larger, increasing the stability.

[0043] When the hard-arm assisting manipulator 1 needs to work, press and hold the button of the first cylinder 5 without releasing it. If the button is released, the hard-arm assisting manipulator 1 will be locked, which is beneficial to protecting the operator. The first cylinder 5 causes the abutting plate 34 to move. When the abutting plate 34 moves, the auxiliary plate 33 returns to its original position under the action of the first spring 25. The sleeve 351 moves along with the abutting plate 34, the second spring 353 resumes, and then the moving cylinder 352 moves along with the sleeve 351. The arc-shaped tooth plate 32 moves along with the moving cylinder 352. Finally, the arc-shaped tooth plate 32 is separated from the annular tooth plate 31 to achieve the purpose of unlocking.

[0044] As Figures 7 - 11 As shown, in another embodiment, a linkage device 4 is provided between the locking components 3 at both ends of the rotating arm 14. The locking components 3 at both ends of the rotating arm 14 can act synchronously. Therefore, the power of the linkage device 4 is two first cylinders 5. Similarly, in order to prevent the first cylinders 5 from being damaged, one motor 6 and one disengaging screw 7 can be used. A support frame 41 is fixedly connected to the lower surface of the rotating arm 14. A cross plate 42 is arranged inside the support frame 41. The two side surfaces of the cross plate 42 are in contact with the inner wall of the support frame 41. The cross plate 42 can move vertically up and down inside the support frame 41. The two first cylinders 5 are fixed on the cross plate 42. The motor 6 is fixed on the bottom plate of the support frame 41. The output end of the motor 6 is also fixed to the disengaging screw 7. The disengaging screw 7 is threadedly connected to the cross plate 42. After the motor 6 rotates to move the cross plate 42 upward, the arc-shaped tooth plate 32 is separated from the annular tooth plate 31. In this embodiment, the same button controls all the first cylinders 5.

[0045] There are two situations through the linkage device 4. One situation is that the rotating column 12, the parallel arm 13, the rotating arm 14 and the connecting arm 15 are all locked to facilitate better handling of steel. Another situation is that when the rotating column 12, the parallel arm 13 and the rotating arm 14 are locked, the connecting arm 15 can still rotate.

[0046] Two linkage devices 4 are provided, respectively located on both sides of the rotating arm 14. The linkage device 4 includes a linkage member 43 that moves up and down. The two ends of the linkage member 43 are respectively fixedly connected to the sleeves 351 at the corresponding ends. The first cylinder 5 causes the linkage member 43 to move up and down. The linkage member 43 drives the elastic telescopic members 35 and the abutting plates 34 at its two ends to move. The elastic telescopic member 35 drives the arc-shaped tooth plate 32 to move.

[0047] The linkage member 43 includes a first fixed rod 431 and a second fixed rod 432. The mutually remote ends of the first fixed rod 431 and the second fixed rod 432 are both fixedly connected to the sleeve 351. A sliding sleeve 433 is slidably connected to the second fixed rod 432. A slot is provided on the sliding sleeve 433. An insertion rod 434 inserted into the slot is fixedly connected to the end of the first fixed rod 431. The sliding sleeve 433 and the insertion rod 434 are located at the opposite ends of the first fixed rod 431 and the second fixed rod 432.

[0048] A second cylinder 44 is fixed on the rotating arm 14. The control button of the second cylinder 44 is located on the control box 151. The extending end of the second cylinder 44 is fixedly connected with a synchronous sleeve 45. Two synchronous sleeves 45 are fixed to form a synchronous sleeve 45. A synchronous plate 46 is slidably connected longitudinally to the synchronous sleeve 45. The synchronous plate 46 is fixed to the sliding sleeve 433. The two synchronous plates 46 are respectively fixedly connected to the corresponding side sliding sleeves 433. There are chutes on the synchronous sleeve 45 for the synchronous plate 46 to slide up and down.

[0049] A lifting rod 47 is slidably connected to the rotating arm 14. A limiting surface 471 is provided on the lifting rod 47 to prevent the lifting rod 47 from rotating. The lower end of the lifting rod 47 is fixedly connected to a second fixed rod 432. A third spring 48 is sleeved on the lifting rod 47. In the figure, the third spring 48 is in a compressed state. The two ends of the third spring 48 are respectively connected to the lifting rod 47 and the rotating arm 14.

[0050] During use, press the button of the first cylinder 5. The first cylinder 5 on the lower side of the rotating arm 14 causes the first fixed rod 431 to move upward. The first fixed rod 431 drives the sleeve 351, the inserting rod 434, the sliding sleeve 433 and the second fixed rod 432 to move upward. The mutually remote ends of the first fixed rod 431 and the second fixed rod 432 both drive the sleeve 351 to move upward. The sleeve 351 moves upward, the second spring 353 resumes, and then the moving cylinder 352 moves following the sleeve 351. The arc-shaped tooth plate 32 moves following the moving cylinder 352. Finally, the arc-shaped tooth plate 32 is separated from the annular tooth plate 31. The second fixed rod 432 drives the lifting rod 47 to move upward. The third spring 48 resumes. After the second fixed rod 432 rises, the third spring 48 is in a compressed state. The rest of the first cylinders 5 also work together. Thus, the unlocking is completed. After the cylinder causes the first fixed rod 431 to descend, the locking is completed.

[0051] When only the connecting arm 15 needs to be rotatable, press the button of the second cylinder 44. The second cylinder 44 causes the synchronous sleeve 45 to move. The synchronous sleeve 45 drives the synchronous plate 46 to move. The synchronous plate 46 drives the sliding sleeve 433 to move, causing the sliding sleeve 433 to be separated from the inserting rod 434. Then, the lifting rod 47 moves upward under the action of the spring. The lifting rod 47 drives the second fixed rod 432, the sliding sleeve 433 and the sleeve 351 to move upward. The sleeve 351 drives the abutting plate 34 to move upward. The second spring 353 resumes. Then the moving cylinder 352 moves following the sleeve 351. The arc-shaped tooth plate 32 moves following the moving cylinder 352. Finally, the arc-shaped tooth plate 32 is separated from the annular tooth plate 31. The final height of the second fixed rod 432 is the same as the height after the first fixed rod 431 rises. At this time, the connecting arm 15 can rotate independently, facilitating the clamping of the steel pipe.

[0052] When it is necessary to reconnect the first fixed rod 431 and the second fixed rod 432, press the button of the first control cylinder 5. The first cylinder 5 causes the first fixed rod 431 to move upward. After the first fixed rod 431 reaches the same height as the second fixed rod 432, the second cylinder 44 causes the synchronous sleeve 45 to return to its original position. The synchronous sleeve 45 drives the synchronous plate 46 to move, and the synchronous plate 46 drives the sliding sleeve 433 to move. Finally, the insertion rod 434 is inserted into the sliding sleeve 433.

[0053] Those skilled in the art should understand that the embodiments of the present invention described above and shown in the drawings are only examples and do not limit the present invention. The object of the present invention has been fully and effectively achieved. The functions and structural principles of the present invention have been shown and described in the embodiments. Without departing from the said principles, the embodiments of the present invention can have any deformation or modification.

Claims

1. A short-distance steel material handling device, characterized in that, Comprising: A hard-arm assisted manipulator (1), which includes a fixed column (11). The upper end of the fixed column (11) is rotatably connected to a rotating column (12). The upper end of the rotating column (12) is rotatably connected to a parallel arm (13). A rotating arm (14) is rotatably connected to the parallel arm (13). A connecting arm (15) is rotatably connected to the lower side of the rotating arm (14). The lower end of the connecting arm (15) is connected to a jaw mechanism (17). A turntable (18) is fixed at the rotation point of the lower end of the rotating column (12). Turntables (18) are fixed to both the left side and the right end of the parallel arm (13). The upper end of the connecting arm (15) is fixedly connected to a turntable (18); Friction components (2), which include support plates (21) distributed on the upper and lower sides of the turntable (18). Fixing plates (22) are arranged on the support plates (21). Rubber blocks (23) are fixedly connected to the fixing plates (22); Locking components (3), which include an annular toothed plate (31) and a movable arc-shaped toothed plate (32). The arc-shaped toothed plate (32) is fixedly connected to the turntable (18).

2. The short-distance steel material handling device according to claim 1, wherein: A rod body (24) is fixedly connected to the fixing plate (22). The rod body (24) is slidably connected to the support plate (21). A first spring (25) for adjusting pressure is sleeved on the rod body (24). An anti-disengagement plate is fixed to the end of the rod body (24) away from the fixing plate (22).

3. The short-distance steel material handling device according to claim 2, characterized in that: The friction components (2) further include a fixed seat (26). Both of the support plates (21) are slidably connected to the fixed seat (26). A bidirectional screw (27) is rotatably connected to the fixed seat (26). Both of the support plates (21) are threadedly connected to the bidirectional screw (27).

4. The short-distance steel material handling device according to claim 3, characterized in that: There are two arc-shaped toothed plates (32). An auxiliary plate (33) is sleeved on the rod body (24) of one of the support plates (21). The auxiliary plate (33) is located between the first spring (25) and the support plate (21). Contact plates (34) are abutted against both ends of the auxiliary plate (33).

5. A short-distance steel material handling device according to claim 4, characterized in that: An elastic telescopic member (35) is fixed to the contact plate (34). The elastic telescopic member (35) includes a sleeve (351). The sleeve (351) is fixedly connected to the contact plate (34). A moving cylinder (352) is slidably connected to the sleeve (351). The sleeve (351) and the moving cylinder (352) are connected by a second spring (353). The lower end of the moving cylinder (352) is fixedly connected to the arc-shaped toothed plate (32).

6. The short-distance steel material handling device according to claim 5, characterized in that: The locking components (3) and the friction components (2) are arranged in one-to-one correspondence. Air cylinders (5) are connected to both of the contact plates (34).

7. A short-distance steel material handling device according to claim 5, characterized in that: A linkage device (4) is arranged between the locking components (3) at both ends of the rotating arm (14). The linkage device (4) includes a linkage member (43) that moves up and down. Both ends of the linkage member (43) are fixedly connected to the corresponding sleeves (351).

8. A short-distance steel material handling device according to claim 7, characterized in that: The linkage member (43) includes a first fixed rod (431) and a second fixed rod (432). A sliding sleeve (433) is slidably connected to the second fixed rod (432). A slot is provided on the sliding sleeve (433). A plug rod (434) inserted into the slot is fixedly connected to the end of the first fixed rod (431).

9. The short-distance steel material handling device according to claim 8, characterized in that: A second cylinder (44) is fixed on the rotating arm (14). A synchronous sleeve (45) is fixedly connected to the extending end of the second cylinder (44). A synchronous plate (46) is slidably connected longitudinally to the synchronous sleeve (45). The synchronous plate (46) is fixed to the sliding sleeve (433).

10. A short-distance steel handling device according to claim 9, characterized in that: A lifting rod (47) is slidably connected to the rotating arm (14). The lower end of the lifting rod (47) is fixedly connected to the second fixed rod (432). A third spring (48) is sleeved on the lifting rod (47). The two ends of the third spring (48) are respectively connected to the lifting rod (47) and the rotating arm (14).

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