Auxiliary carrying equipment and carrying method for tubular materials

Abstract

The invention discloses auxiliary carrying equipment and a carrying method for tubular materials. The problems that traditional manual carrying is high in labor intensity, low in efficiency and insufficient in safety are solved. The equipment comprises a main body frame, a Y-axis track, a sliding trolley, an X-axis track and a T-shaped manipulator, the T-shaped manipulator is composed of a Z-axis lifting mechanism, an auxiliary overturning and clamping mechanism, an electric control cabinet and a display system, and accurate positioning, rotation and three-dimensional space movement of tubular materials can be achieved. The Z-axis lifting mechanism balances the dead weight of equipment and bears the weight of materials through a spring balancer and a suspension crane assembly, and it is ensured that operation is convenient. According to the auxiliary overturning clamping mechanism, a fixed clamping head is matched with a movable clamping head, and stable clamping and limiting of materials are achieved in combination with a positioning piece. The device has the advantages of being easy and convenient to operate, high in response speed and high in safety, the carrying efficiency can be remarkably improved, the manual labor intensity is reduced, and the device is suitable for efficient carrying operation of tubular materials in the field of industrial manufacturing and logistics transportation.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of material handling, in particular to an auxiliary handling device and a handling method for tubular materials. BACKGROUND

[0002] In the field of industrial manufacturing and logistics transportation, the handling of tubular materials such as cylindrical pipes and shafts is a common but challenging task. These materials are typically heavy and thin-walled. Currently, the handling of such materials mainly relies on manual operation, which has the following outstanding problems: High labor intensity: Due to the large volume and weight of tubular materials, manual handling requires a lot of physical effort, and long-time operation can easily lead to worker fatigue, thereby affecting the efficiency and safety of the operation.

[0003] Low operation efficiency: The traditional manual handling method lacks precise positioning and quick turning ability, especially when the material needs to be adjusted in angle, which often requires multiple people to cooperate, takes a long time and is difficult to ensure the operation accuracy.

[0004] Insufficient safety: During manual handling, the material may slip or fall, which not only poses a safety hazard to the operator, but also may cause damage to the material or interruption of production.

[0005] In order to solve the above problems, it is urgent to develop an auxiliary handling device and method that can reduce the labor intensity, improve the handling efficiency, ensure the safety of the material and have the function of flexible turning. SUMMARY

[0006] To solve the above problems, the present application provides an auxiliary handling device and method for tubular materials that are easy to operate, speed controllable and fast in response, which improves the operation efficiency and reduces the labor intensity.

[0007] The technical solution adopted by the present application is as follows: An auxiliary handling device for tubular materials, comprising a main frame, a Y-axis rail installed on the main frame, a sliding trolley slidingly installed on the Y-axis rail, an X-axis rail installed on the sliding trolley, and a T-shaped mechanical hand slidingly installed on the X-axis rail; The T-shaped mechanical hand comprises a Z-axis lifting mechanism at the upper part, an auxiliary turning and clamping mechanism at the lower part, an electric control cabinet and a display system. The T-shaped mechanical hand can hold the tubular material and rotate it by 360° through the auxiliary turning and clamping mechanism, can lift the vertical height of the auxiliary turning and clamping mechanism and the tubular material through the Z-axis lifting mechanism, and can move horizontally through the Y-axis rail and the X-axis rail.

[0008] Further, a group of Y-axis tracks are arranged in parallel on the top of the main frame and are fixedly connected with the main frame through a hanging piece; the sliding trolley is of a rectangular frame structure, the frame beams on both sides of which are a group of X-axis tracks, and a group of X-axis tracks are slidably installed below a group of Y-axis tracks through a connecting piece; the top of the T-shaped mechanical arm is a trolley connecting frame, which is slidably installed below a group of X-axis tracks through a connecting piece.

[0009] Further, the Z-axis lifting mechanism of the T-shaped mechanical arm comprises a rotary support, a fixed sleeve, a guide sleeve, an inner lifting column, a spring balancer and a suspension lifting assembly arranged coaxially in the vertical direction; The upper end of the rotary support is fixedly connected with a trolley connecting frame, which is connected with the sliding trolley through the trolley connecting frame, and the lower end is fixedly connected with the upper end of the fixed sleeve; the lower end of the fixed sleeve is fixedly connected with the upper end of the guide sleeve; the fixed sleeve and the guide sleeve are both internally provided with a cavity for the inner lifting column to pass through, the rotary support is provided with a through hole matched with the inner lifting column to pass through, and the top end of the inner lifting column passes through the rotary support, the fixed sleeve, the guide sleeve, the trolley connecting frame and the sliding trolley, and the bottom end is exposed below the guide sleeve and is fixedly connected with the auxiliary overturning clamping mechanism; The suspension lifting assembly is installed between the fixed sleeve and the bottom end of the inner lifting column; the spring balancer is of two groups and is symmetrically arranged on both sides of the suspension lifting assembly, the top end of the spring balancer is fixedly connected with the fixed sleeve through a mounting bracket, and the bottom end is fixedly connected with the bottom end of the inner lifting column through a steel wire rope.

[0010] Further, the suspension lifting assembly comprises a group of floating crane fixed plates, a fixed pulley and an electric hoist; The group of floating crane fixed plates are symmetrically installed on one side of the fixed sleeve and one side of the bottom end of the inner lifting column, the electric hoist is fixedly installed on the upper floating crane fixed plate, the fixed pulley is fixedly installed on the lower floating crane fixed plate, the extension spring of the electric hoist is fixedly connected with the fixed pulley through a spring connecting piece, and the steel wire rope of the electric hoist is hung on the body of the electric hoist after winding around the fixed pulley.

[0011] Further, the group of spring balancers of the Z-axis lifting mechanism balances the dead weight of the inner lifting column and the auxiliary overturning clamping mechanism; the suspension lifting assembly of the Z-axis lifting mechanism bears the dead weight of the tubular material.

[0012] Further, the guide sleeve is in the shape of T as a whole, and a group of guide seats are symmetrically arranged on the guide sleeve; the guide seat is of a rectangular sleeve structure, and a rotating shaft is installed on each of the four circumferential sides, and a group of bearings in rolling contact with the side wall of the inner lifting column are installed on each rotating shaft; The rear side of the guide sleeve extends outward and is fixedly connected with an electric control cabinet, and a hanging bracket matched with a display system is installed on one side of the electric control cabinet.

[0013] Further, the auxiliary overturning clamping mechanism comprises a clamp rotary driving assembly and a clamp assembly; The clamp rotating drive assembly comprises a main connecting rod, a motor speed reducer and a flange shaft; the top of the main connecting rod is fixedly connected with the Z-axis lifting mechanism, one side of the bottom of the main connecting rod is fixedly installed with a flange, one side of the flange is fixedly installed with the motor speed reducer, the flange is rotatably installed with the flange shaft through a bearing, one side of the flange shaft penetrates through the flange and is drivingly connected with the motor speed reducer, and the other side of the flange shaft is provided with a clamp mounting seat for mounting the clamp assembly; the motor speed reducer drives the clamp assembly to rotate 360° relative to the flange through the flange shaft and the clamp mounting seat. The clamp assembly comprises a support frame, a clamp control power source, a fixed clamp head and a movable clamp head; the support frame and the clamp control power source are both fixedly installed on the clamp mounting seat, and the clamp control power source is located between the support frame and the clamp mounting seat; the support frame is installed with the fixed clamp head and the movable clamp head on the side away from the clamp control power source, the movable clamp head is slidingly installed on the support frame through a linear sliding rail, the movable clamp head is provided with a connecting frame, and the movable clamp head is hingedly connected with the output end of the clamp control power source through the connecting frame; the clamp control power source controls the movable clamp head to slide relative to the fixed clamp head, so that the clamp assembly clamps and releases the tubular material.

[0014] Further, the movable clamp head is detachably installed with a positioning member capable of positioning the two end faces of the tubular material.

[0015] Further, the support frame is installed with an auxiliary handle, and the auxiliary handle is provided with a button electrically connected with the motor speed reducer and the clamp control power source.

[0016] A tubular material carrying method based on the above-mentioned auxiliary carrying device of the tubular material, comprising the following steps: Step 1, taking out the workpiece: manually push and pull the T-shaped mechanical hand to move along the Y-axis track and the X-axis track to the position for taking out the tubular material; control the suspension lifting mechanism of the T-shaped mechanical hand to control the up-down lifting of the auxiliary overturning clamping mechanism, so that the auxiliary overturning clamping mechanism is aligned with the tubular material to be carried; Step 2, adjusting the position: continue to manually push and pull the T-shaped mechanical hand to finely adjust the position in the front-rear and left-right directions; again operate the suspension lifting mechanism to adjust the height and angle of the clamp assembly of the auxiliary overturning clamping mechanism to ensure that the clamp assembly is accurately positioned with the material; Step 3, clamping the material: manually operate the button of the auxiliary handle on the clamp assembly to start the clamp control power source to drive the movable clamp head to slide relative to the fixed clamp head to clamp the tubular material; adjust the positioning member on the movable clamp head to limit the two ends of the tubular material; Step 4, lifting and overturning the material: manually push and pull the T-shaped mechanical hand to move the clamped tubular material to a safe space; operate the button of the auxiliary handle on the clamp assembly to start the motor speed reducer of the clamp rotating drive assembly to drive the clamp assembly and the tubular material to rotate to the required position through the flange shaft; Step 5, preparation for placing: manually push and pull the T-shaped mechanical arm to move the overturned material to the target placing position; operate the suspension lifting mechanism to adjust the height and angle of the tubular material to align it with the placing point; Step 6, loosening the material: manually operate the button of the auxiliary handle on the clamp assembly to start the clamp control power source, drive the movable clamp head to slide reversely relative to the fixed clamp head to loosen the material; remove the positioning member on the movable clamp head to release the limitation on both ends of the tubular material; Step 7, resetting the mechanical arm: manually push and pull the T-shaped mechanical arm to move it back to the safe space, completing a carrying cycle.

[0017] The present application provides a kind of tubular material auxiliary carrying equipment and carrying method, it has significant technical advantages in structural design and operation process, can effectively solve the problems in prior art, and bring the following many aspects of beneficial effects: 1. Significantly reduce labor intensity: through the spring balancer to balance the dead weight of the equipment, the design of the suspension lifting assembly to bear the weight of the tubular material greatly reduces the physical burden of the operator during lifting. The horizontal movement and clamping action of the equipment are combined with manual push and pull and electric control, which is simple and labor-saving, and significantly reduces the labor intensity.

[0018] 2. Improve carrying efficiency: the equipment realizes flexible movement in three-dimensional space through Y-axis rail, X-axis rail and Z-axis lifting mechanism, and cooperates with the precise control of the suspension lifting mechanism to quickly complete the picking, overturning and placing operations of the tubular material. The design of the clamp rotary drive assembly and the clamp assembly enables the tubular material to be quickly overturned during carrying, reducing the complex adjustment steps in traditional carrying and significantly improving the work efficiency.

[0019] 3. Improve material safety: the positioning member on the movable clamp head can limit both ends of the tubular material to prevent it from falling or toppling during carrying or overturning, ensuring the safety of the material. The contact surface between the fixed clamp head and the movable clamp head of the clamp assembly and the tubular material is made of polyurethane material, which effectively reduces friction damage and protects the surface quality of the tubular material.

[0020] 4. Ensure work safety: the positioning member and limiting function of the clamp assembly, as well as the stable guiding effect of the guide sleeve, effectively avoid the risk of the tubular material falling or toppling during carrying, ensuring the safety of the operator and the equipment.

[0021] 5. Improve industrial production efficiency: the equipment can quickly complete the picking, overturning and placing operations of the tubular material, which is suitable for flow line operation in industrial manufacturing and logistics transportation, significantly shortens the carrying time and improves the overall production efficiency.

[0022] 6. Technological innovation and promotional value: This device is not only suitable for tubular material handling in the field of industrial manufacturing, but also can be popularized to the fields of logistics transportation and warehouse management, providing efficient solutions for more industries.

[0023] In summary, the tubular material auxiliary handling device and handling method of the present application solve the problems of high labor intensity, low efficiency and insufficient safety in traditional manual handling through innovative structural design and optimized operation process. The significant technical advantages and wide applicability can improve the efficiency and safety of handling operations, providing strong technical support for enterprises to reduce production costs and improve economic efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 is the overall structure diagram of the tubular material auxiliary handling device of the present application; Figure 2 is the connection diagram of the sliding trolley and the T-shaped manipulator of the present application; Figure 3 is the overall structure diagram of the T-shaped manipulator of the present application; Figure 4 is the structure diagram of the Z-axis lifting mechanism of the present application; Figure 5 is the structure diagram of the guide seat of the present application; Figure 6 is the structure diagram of the auxiliary overturning clamping mechanism of the present application; In the figure, 1 is the main frame, 2 is the Y-axis rail, 3 is the sliding trolley, 4 is the X-axis rail, 5 is the T-shaped manipulator, 6 is the Z-axis lifting mechanism, 7 is the auxiliary overturning clamping mechanism, 8 is the electric control cabinet, 9 is the display system, 10 is the hanging part, 11 is the trolley connecting frame, 12 is the first connecting part, 13 is the second connecting part, 14 is the rotary support, 15 is the fixed sleeve, 16 is the guide sleeve, 17 is the inner lifting column, 18 is the spring balancer, 19 is the suspended lifting assembly, 20 is the mounting frame, 21 is the steel wire rope, 22 is the electric hoist, 23 is the upper floating lifting fixed plate, 24 is the fixed pulley, 25 is the lower floating lifting fixed plate, 26 is the tension spring, 27 is the spring connecting part, 28 is the steel wire rope, 29 is the guide seat, 30 is the rotating shaft, 31 is the bearing, 32 is the hanging frame, 33 is the clamp rotating drive assembly; 34 is the clamp assembly, 35 is the main connecting rod, 36 is the motor reducer, 37 is the flange shaft, 38 is the flange, 39 is the clamp mounting seat, 40 is the support frame, 41 is the clamp control power source, 42 is the fixed chuck, 43 is the movable chuck, 44 is the linear slide rail, 45 is the connecting frame, 46 is the positioning part, 47 is the auxiliary handle, 48 is the button. DETAILED DESCRIPTION

[0025] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings of the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by a person of ordinary skill in the art without creative effort belong to the protection scope of the present application.

[0026] In view of the problems of high labor intensity, low efficiency and insufficient safety in traditional manual carrying of tubular materials, the embodiment provides an auxiliary carrying device for tubular materials, which has the characteristics of simple operation, fast response speed and high safety, can significantly improve the carrying efficiency and reduce the labor intensity, and is suitable for efficient carrying operation of tubular materials in the fields of industrial manufacturing and logistics transportation.

[0027] Specifically, as shown in the drawings, Figure 1 The auxiliary carrying device for tubular materials includes a main frame 1, a Y-axis rail 2, a sliding trolley 3, an X-axis rail 4, a T-shaped mechanical arm 5 and other components. The main frame 1 is installed on the ground as the support base of the entire device, and is formed by six groups of steel columns and a rectangular frame beam connected by bolts to form the overall main frame 1, which has sufficient strength and rigidity to ensure stable operation of the device. As shown in the drawings, Figure 1 A group of Y-axis rails 2 are arranged in parallel on the top of the main frame 1 and are fixedly connected to the main frame 1 by hanging pieces 10, which are used to support the sliding trolley 3 and allow it to slide longitudinally to realize horizontal movement in the Y-axis direction. As shown in the drawings, Figure 1 and Figure 2 The sliding trolley 3 has a rectangular frame structure, and the frame beams on both sides are a group of X-axis rails 4. The group of X-axis rails 4 are slidably installed below the group of Y-axis rails 2 by first connecting pieces 12, so that the sliding trolley 3 can move along the Y-axis rail 2. As shown in the drawings, Figure 1 and Figure 2 A group of X-axis rails 4 are fixed on both sides of the sliding trolley 3, and the X-axis rails 4 are slidably connected to the T-shaped mechanical arm 5 by second connecting pieces 13 to allow the T-shaped mechanical arm 5 to move transversely to realize horizontal movement in the X-axis direction.

[0028] Through the above structure, after the T-shaped mechanical arm 5 clamps the tubular material, it realizes long-distance and large-range carrying movement by the sliding trolley 3 cooperating with the Y-axis rail 2, and realizes short-distance and small-range carrying movement by the sliding trolley 3 cooperating with the X-axis rail 4, so as to realize the transfer of the tubular material from the carrying point to the unloading point. It should be noted that the above carrying movement process can be moved by manual operation in a non-powered form, or electric traction devices can be installed on the Y-axis rail 2 and the X-axis rail 4 respectively to realize electric movement according to the requirements.

[0029] Further, the T-shaped manipulator 5 in the embodiment adopts the following structure to realize the clamping of the tubular material: as shown in Figure 2 and Figure 3 The top of the T-shaped manipulator 5 is a trolley connecting frame 11, which is slidingly installed below a set of X-axis rails 4 through a connecting piece; the T-shaped manipulator 5 includes a Z-axis lifting mechanism 6 at the upper part, an auxiliary overturning clamping mechanism 7 at the lower part, and an electric control cabinet 8 and a display system 9, which are responsible for the clamping, lifting, rotating and carrying of the tubular material.

[0030] As shown in Figure 3 and Figure 4 The Z-axis lifting mechanism 6 of the T-shaped manipulator 5 includes a vertical coaxial rotary support 14, a fixed sleeve 15, a guide sleeve 16, an inner lifting column 17, a spring balancer 18 and a suspension lifting assembly 19. The upper end of the rotary support 14 is fixedly connected to a trolley connecting frame 11, which is connected to the sliding trolley 3 through the trolley connecting frame 11, and the lower end is fixedly connected to the upper end of the fixed sleeve 15. The lower end of the fixed sleeve 15 is fixedly connected to the upper end of the guide sleeve 16. The fixed sleeve 15 and the guide sleeve 16 are both provided with cavities for the inner lifting column 17 to pass through, and the rotary support 14 is provided with a through hole for the inner lifting column 17 to pass through. The top end of the inner lifting column 17 passes through the rotary support 14, the fixed sleeve 15, the guide sleeve 16, the trolley connecting frame 11 and the sliding trolley 3, and the bottom end is exposed below the guide sleeve 16 and is fixedly connected to the auxiliary overturning clamping mechanism 7.

[0031] The suspension lifting assembly 19 in the embodiment is installed between the fixed sleeve 15 and the bottom end of the inner lifting column 17; the spring balancer 18 is two sets and is symmetrically arranged on both sides of the suspension lifting assembly 19. The top end of the spring balancer 18 is fixedly connected to the fixed sleeve 15 through a mounting frame 20, and the bottom end is fixedly connected to the bottom end of the inner lifting column 17 through a steel wire rope 21. The suspension lifting assembly 19 includes a set of floating lifting fixed plates, a fixed pulley 24 and an electric hoist 22; a set of floating lifting fixed plates are symmetrically installed on one side of the fixed sleeve 15 and one side of the bottom end of the inner lifting column 17, the electric hoist 22 is fixedly installed on the upper floating lifting fixed plate 23, the fixed pulley 24 is fixedly installed on the lower floating lifting fixed plate 25, the extension spring 26 of the electric hoist 22 is fixedly connected to the fixed pulley 24 through a spring connecting piece 27, and the steel wire rope 28 of the electric hoist 22 is hung on the body of the electric hoist 22 after winding around the fixed pulley 24.

[0032] The Z-axis lifting mechanism 6 can lift the vertical height of the auxiliary overturning clamping mechanism 7 and the tubular material. The electric hoist 22 is powered by the electric control cabinet 8, and after starting, the steel wire rope 28 is retracted and released, the fixed pulley 24 drives the lower floating crane fixed plate 25 and the inner lifting column 17 to vertically lift, and then drives the auxiliary overturning clamping mechanism 7 and the tubular material to move in the Z-axis direction. It should be noted that the set of spring balancers 18 of the Z-axis lifting mechanism 6 in the embodiment is used to balance the self-weight of the inner lifting column 17 and the auxiliary overturning clamping mechanism 7; the electric hoist 22 of the floating crane assembly 19 of the Z-axis lifting mechanism 6 bears the self-weight of the tubular material, and realizes precise lifting control.

[0033] As a preferred technical solution of the embodiment, as shown in Figure 4 and Figure 5 The guide sleeve 16 in the embodiment is in the shape of T as a whole, and a set of guide seats 29 are symmetrically arranged thereon; the guide seat 29 is a rectangular sleeve structure, and a rotating shaft 30 is installed on each of the four circumferential sides, and a set of bearings 31 in rolling contact with the side wall of the inner lifting column 17 are installed on each rotating shaft 30, so as to ensure that the inner lifting column 17 is stable and does not shake during lifting. The rear side of the guide sleeve 16 extends outward and is fixedly connected with the electric control cabinet 8, and a hanging rack 32 installed in cooperation with the display system 9 is arranged on one side of the electric control cabinet 8; the electric control cabinet 8 and the display system 9 are integrated with a control power supply device and a man-machine interface, and can display the equipment state in real time, so as to facilitate operation and monitoring.

[0034] As shown in Figure 3 and Figure 6 The auxiliary overturning clamping mechanism 7 in the embodiment includes a clamp rotating drive assembly 33 and a clamp assembly 34; the clamp rotating drive assembly 33 is used to drive the clamp assembly 34 to rotate 360° for positioning; and the clamp assembly 34 is used to clamp and fix the tubular material.

[0035] The clamp rotating drive assembly 33 includes a main connecting rod 35, a motor reducer 36 and a flange shaft 37; the top of the main connecting rod 35 is fixedly connected with the Z-axis lifting mechanism 6, a flange 38 is fixedly installed on one side of the bottom of the main connecting rod 35, the motor reducer 36 is fixedly installed on one side of the flange 38, the flange shaft 37 is rotatably installed at the flange 38 through a bearing, one side of the flange shaft 37 penetrates through the flange 38 and is drivingly connected with the motor reducer 36, and the other side of the flange shaft 37 is provided with a clamp mounting seat 39 installed in cooperation with the clamp assembly 34. The motor reducer 36 is powered by the electric control cabinet 8, and after starting, the motor reducer 36 drives the flange shaft 37 to rotate, and the flange shaft 37 drives the clamp mounting seat 39 and the clamp assembly 34 to rotate 360° for positioning relative to the flange 38. It should be noted that during the positioning rotation, the motor reducer 36 is used, which has a brake function, and the positioning rotation is realized by installing a proximity switch at the corresponding position.

[0036] The clamp assembly 34 includes a support frame 40, a clamp control power source 41, a fixed clamp 42, and a movable clamp 43. The support frame 40 and the clamp control power source 41 are both fixedly installed on the clamp mounting base 39, and the clamp control power source 41 is located between the support frame 40 and the clamp mounting base 39. The fixed clamp 42 and the movable clamp 43 are installed on the side of the support frame 40 away from the clamp control power source 41. The movable clamp 43 is slidably installed on the support frame 40 via a linear slide rail 44. The movable clamp 43 is provided with a connecting frame 45, and the movable clamp 43 is hinged to the output end of the clamp control power source 41 via the connecting frame 45. The clamp control power source 41 is an electric cylinder, which is powered by the electric control cabinet 8. After starting, the electric cylinder extension rod drives the movable clamp 43 to slide up and down on the linear slide rail 44, thereby cooperating with the fixed clamp 42 to form an open and closed state to complete the clamping of tubular materials. An auxiliary handle 47 is installed on the support frame 40. The auxiliary handle 47 is equipped with a button 48 that is electrically connected to the motor reducer 36 and the clamp control power source 41. It is used to control the clamping, releasing and flipping actions to realize human-machine collaborative operation.

[0037] The clamp assembly 34 is suitable for cylindrical tubular materials with a diameter of 150mm to 400mm. As a preferred technical solution in this embodiment, to prevent the product from falling off when the clamp is horizontally rotated +90° or -90°, such as... Figure 1 As shown, in this embodiment, a positioning element 46 is detachably installed on the movable clamp 43 to position the two ends of the tubular material. This is used to limit the position of the two ends of the tubular material and prevent it from slipping when flipped. The positioning element 46 is suitable for cylindrical tubular materials with a length of 300mm to 1200mm.

[0038] Based on the aforementioned auxiliary handling equipment for tubular materials, this embodiment also proposes a method for handling tubular materials, the specific steps of which are as follows: Step 1, Preparation for picking up the material: Manually push and pull the T-shaped robot arm 5 to move it along the Y-axis track 2 and the X-axis track 4 to the position for picking up the tubular material; operate the suspension mechanism of the T-shaped robot arm 5 to control the auxiliary flipping clamping mechanism 7 to move up and down, so that the auxiliary flipping clamping mechanism 7 is aligned with the tubular material to be transported. Step 2, Alignment Adjustment: Continue to manually push and pull the T-shaped manipulator 5 to fine-tune its position in the front, back, left, and right directions; operate the suspension lifting mechanism again to adjust the height and angle of the clamping assembly 34 of the auxiliary flipping clamping mechanism 7 to ensure that the clamping assembly 34 is accurately aligned with the material; Step 3, clamping the material: manually operate the button 48 on the auxiliary handle 47 on the clamp assembly 34 to start the clamp control power source 41, drive the movable chuck 43 to slide relative to the fixed chuck 42, and clamp the tubular material; adjust the positioning part 46 on the movable chuck 43 to limit the two ends of the tubular material. Step 4, material lifting and turning: manually push and pull the T-shaped manipulator 5 to move the clamped tubular material to a safe space; operate the button 48 of the auxiliary handle 47 on the clamp assembly 34 to start the motor reducer 36 of the clamp rotary drive assembly 33, drive the clamp assembly 34 and the tubular material to rotate to the required position through the flange shaft 37; Step 5, part preparation: manually push and pull the T-shaped manipulator 5 to move the turned material to the target part placement position; operate the suspension lifting mechanism to adjust the height and angle of the tubular material to align with the placement point; Step 6, loosening the material: manually operate the button 48 of the auxiliary handle 47 on the clamp assembly 34 to start the clamp control power source 41 to drive the movable chuck 43 to slide reversely relative to the fixed chuck 42 to loosen the material; remove the positioning member 46 on the movable chuck 43 to release the limitation on both ends of the tubular material; Step 7, reset the manipulator: manually push and pull the T-shaped manipulator 5 to move it back to the safe space, completing a carrying cycle.

[0039] As described above, the auxiliary carrying device for the tubular material balances the self-weight of the device through the spring balancer 18 and bears the weight of the tubular material through the suspension lifting assembly 19, greatly reducing the physical burden of the operator during lifting; the horizontal movement and clamping action of the device are both combined with manual pushing and pulling and electric control, which is simple and labor-saving, significantly reducing the labor intensity. The device can move flexibly in three-dimensional space through the Y-axis track 2, the X-axis track 4 and the Z-axis lifting mechanism 6, and can quickly complete the picking, turning and placing operations of the tubular material in cooperation with the precise control of the suspension lifting mechanism; the design of the clamp rotary drive assembly 33 and the clamp assembly 34 enables the tubular material to be quickly turned during carrying, reducing the complex adjustment steps in traditional carrying and significantly improving the operation efficiency. The device can quickly complete the picking, turning and placing operations of the tubular material, is suitable for pipeline operation in industrial manufacturing and logistics transportation, significantly shortens the carrying time and improves the overall production efficiency; the device is not only suitable for tubular material carrying in the field of industrial manufacturing, but also can be popularized to the fields of logistics transportation, warehouse management and the like, providing efficient solutions for more industries.

[0040] The basic principles, main features and advantages of the present application are shown and described above. It should be understood by those skilled in the art that the present application is not limited by the above examples, and the above examples and descriptions in the specification are only to illustrate the principles of the present application. Without departing from the spirit and scope of the present application, various changes and improvements can be made to the present application, and these changes and improvements all fall within the scope of the claimed present application. The scope of protection of the present application is defined by the appended claims and their equivalents.

Claims

1. An auxiliary handling device for tubular materials, characterized in that: The auxiliary handling equipment for tubular materials includes a main frame, a Y-axis rail mounted on the main frame, a sliding trolley slidably mounted on the Y-axis rail, an X-axis rail mounted on the sliding trolley, and a T-shaped manipulator slidably mounted on the X-axis rail. The T-shaped manipulator includes a Z-axis lifting mechanism at the top, an auxiliary flipping and gripping mechanism at the bottom, as well as an electrical control cabinet and a display system; The T-shaped robot arm can hold tubular materials and perform 360° positioning and rotation through an auxiliary flipping and gripping mechanism. The vertical height of the auxiliary flipping and gripping mechanism and the tubular materials can be increased through the Z-axis lifting mechanism. The T-shaped robot arm and the tubular materials can move horizontally through the Y-axis and X-axis tracks.

2. The auxiliary handling equipment for tubular materials according to claim 1, characterized in that: A set of Y-axis tracks are set parallel to the top of the main frame and are fixedly connected to the main frame by hanging parts; the sliding trolley is a rectangular frame structure, and the frame beams on both sides of the trolley are a set of X-axis tracks, which are slidably installed below the set of Y-axis tracks by connecting parts; the top of the T-shaped manipulator is the trolley connecting frame, which is slidably installed below the set of X-axis tracks by connecting parts.

3. The auxiliary handling equipment for tubular materials according to claim 1, characterized in that: The Z-axis lifting mechanism of the T-shaped manipulator includes a vertically coaxial rotary support, a fixed sleeve, a guide sleeve, an inner lifting column, a spring balancer, and a suspension assembly. The upper end of the slewing support is fixedly connected to a trolley connecting frame, which is connected to the sliding trolley through the trolley connecting frame. Its lower end is fixedly connected to the upper end of the fixed sleeve. The lower end of the fixed sleeve is fixedly connected to the upper end of the guide sleeve. Both the fixed sleeve and the guide sleeve have cavities for the inner lifting column to pass through. The slewing support has a through hole for the inner lifting column to pass through. The top end of the inner lifting column passes through the slewing support, the fixed sleeve, the guide sleeve, the trolley connecting frame and the sliding trolley. Its bottom end protrudes below the guide sleeve and is fixedly connected to the auxiliary flipping clamping mechanism. The suspended suspension assembly is installed between the fixed sleeve and the bottom of the inner lifting column; there are two sets of spring balancers, symmetrically arranged on both sides of the suspended suspension assembly. The top of the spring balancer is fixedly connected to the fixed sleeve through the mounting bracket, and the bottom is fixedly connected to the bottom of the inner lifting column through the steel wire rope.

4. The auxiliary handling equipment for tubular materials according to claim 3, characterized in that: The suspended hoist assembly includes a set of floating hoist fixing plates, fixed pulleys, and an electric hoist; A set of floating crane fixing plates are symmetrically installed on one side of the fixing sleeve and one side of the bottom of the inner lifting column. The electric hoist is fixedly installed on the upper floating crane fixing plate, and the fixed pulley is fixedly installed on the lower floating crane fixing plate. The tension spring of the electric hoist is fixedly connected to the fixed pulley through the spring connector. The wire rope of the electric hoist passes around the fixed pulley and is suspended on the electric hoist body.

5. The auxiliary handling equipment for tubular materials according to claim 3, characterized in that: A set of spring balancers in the Z-axis lifting mechanism balances the weight of the inner lifting column and the auxiliary flipping clamping mechanism; the suspension assembly of the Z-axis lifting mechanism bears the weight of the tubular material.

6. The auxiliary handling equipment for tubular materials according to claim 3, characterized in that: The guide sleeve is T-shaped in general, with a set of guide seats symmetrically arranged on it; the guide seat is a rectangular sleeve structure, with a rotating shaft installed on each of its four sides, and each rotating shaft is equipped with a set of bearings that roll in contact with the side wall of the inner lifting column. The rear side of the guide sleeve extends outward and is fixedly connected to the electrical control cabinet. One side of the electrical control cabinet is equipped with a bracket for installation with the display system.

7. The auxiliary handling equipment for tubular materials according to claim 1, characterized in that: The auxiliary flipping clamping mechanism includes a clamp rotation drive assembly and a clamp assembly; The clamp rotation drive assembly includes a main connecting rod, a motor reducer, and a flange shaft. The top of the main connecting rod is fixedly connected to the Z-axis lifting mechanism, and a flange is fixedly installed on one side of its bottom. The motor reducer is fixedly installed on one side of the flange. A flange shaft is rotatably installed on the flange via a bearing. One side of the flange shaft passes through the flange and is driven by the motor reducer. The other side of the flange shaft is provided with a clamp mounting seat for mounting the clamp assembly. The motor reducer drives the clamp assembly to rotate 360° relative to the flange through the flange shaft and the clamp mounting seat. The clamp assembly includes a support frame, a clamp control power source, a fixed clamp, and a movable clamp. Both the support frame and the clamp control power source are fixedly mounted on the clamp mounting base, with the clamp control power source located between the support frame and the mounting base. The fixed clamp and the movable clamp are mounted on the side of the support frame away from the clamp control power source. The movable clamp is slidably mounted on the support frame via a linear guide rail. A connecting frame is provided on the movable clamp, and the movable clamp is hinged to the output end of the clamp control power source via the connecting frame. The clamp control power source controls the movable clamp to slide relative to the fixed clamp, causing the clamp assembly to open and close to clamp tubular materials.

8. The auxiliary handling equipment for tubular materials according to claim 7, characterized in that: The movable clamp is detachably equipped with positioning components capable of positioning both ends of the tubular material.

9. The auxiliary handling equipment for tubular materials according to claim 7, characterized in that: An auxiliary handle is installed on the support frame, and the auxiliary handle has a button that is electrically connected to the motor reducer and the clamp control power source.

10. A method for handling tubular materials, the method being based on the auxiliary handling equipment for tubular materials according to any one of claims 1-9, characterized in that: Includes the following steps: Step 1, Preparation for picking up the material: Manually push and pull the T-shaped robot arm to move it along the Y-axis and X-axis tracks to the position for picking up the tubular material; operate the suspension mechanism of the T-shaped robot arm to control the auxiliary flipping and clamping mechanism to move up and down, so that the auxiliary flipping and clamping mechanism is aligned with the tubular material to be transported; Step 2, Alignment Adjustment: Continue to manually push and pull the T-shaped manipulator to fine-tune its position in the front-back, left-right directions; operate the suspension lifting mechanism again to adjust the height and angle of the clamping components of the auxiliary flipping clamping mechanism to ensure accurate alignment between the clamping components and the material; Step 3, clamping the material: manually operate the button on the auxiliary handle on the clamping assembly to start the clamping control power source, drive the movable chuck to slide relative to the fixed chuck, and clamp the tubular material; adjust the positioning parts on the movable chuck to limit the two ends of the tubular material. Step 4, Material lifting and flipping: Manually push and pull the T-shaped manipulator to move the clamped tubular material to a safe space; operate the button on the auxiliary handle on the clamping assembly to start the motor reducer of the clamping rotation drive assembly, and drive the clamping assembly and tubular material to rotate to the required position through the flange shaft; Step 5, Preparation for placement: Manually push and pull the T-shaped manipulator to move the flipped material to the target placement position; operate the suspension mechanism to adjust the height and angle of the tubular material to align it with the placement point; Step 6, release the material: manually operate the button on the auxiliary handle on the clamp assembly to start the clamp control power source, drive the movable chuck to slide in the opposite direction relative to the fixed chuck, and release the material; remove the positioning parts on the movable chuck to release the restriction on both ends of the tubular material; Step 7, reset the robot arm: manually push and pull the T-shaped robot arm to move it back to the safe space, completing one handling cycle.

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