CN118220805A - Automatic rectangular steel pipe feeding device and feeding method thereof - Google Patents

Abstract

The invention relates to the field of steel pipe feeding, in particular to an automatic rectangular steel pipe feeding device and a feeding method thereof.

Description

Automatic rectangular steel pipe feeding device and feeding method thereof

Technical Field

The invention relates to the field of steel pipe feeding, in particular to an automatic rectangular steel pipe feeding device and a feeding method of the automatic rectangular steel pipe feeding device.

Background

The existing rectangular steel pipe automatic feeding device commonly adopts a lifting frame to store and arrange rectangular steel pipes, multiple layers of rectangular steel pipes can be densely stacked in the lifting frame to realize large-scale storage and quick supply, however, in the actual operation process, when the steel pipes stacked at the top are required to be conveyed to a feeding position in a horizontal pushing mode, contact and friction can be inevitably generated between the upper layer steel pipes and the lower layer steel pipes, the contact friction phenomenon can lead to abrasion on the surfaces of the rectangular steel pipes, the appearance quality and the service performance of the steel pipes are affected, and potential hidden hazards are caused particularly in the key performances such as corrosion resistance and structural connection.

The presently disclosed Chinese patent CN208083854U is a steel pipe machining system, which comprises a storage box, wherein a plurality of layers of steel pipes are placed in the storage box, box plates on two opposite sides of the storage box can be opened, the length direction of the steel pipes faces to a next machining workbench, a push plate is installed at the end part of a telescopic rod, the push plate can push the steel pipes in the storage box, the steel pipes are placed on a support, the storage box is arranged on a moving unit, and the moving unit can drive the storage box to move up, down, left and right.

According to the above patent, the push plate at the end part of the telescopic rod is used for directly pushing the steel pipe in the storage box, however, the steel pipe at the uppermost layer is directly pushed to generate direct friction with the steel pipe at the lower layer, the friction force can cause abrasion on the surface of the steel pipe, the friction force is very large during direct pushing, and especially when rust or impurities exist on the surface of the steel pipe, the pushing resistance is further increased, even the steel pipe cannot be effectively pushed, and the feeding efficiency is influenced.

Disclosure of Invention

According to the automatic feeding device for the rectangular steel pipes, the uppermost steel pipe and the lower steel pipe are separated through the matching of the positioning assembly and the lifting bin, and the sliding frame body is used for supporting the steel pipes, so that friction resistance of the steel pipes in the sliding process is reduced, abrasion of the surfaces of the steel pipes due to mutual friction is effectively avoided, the quality of the steel pipes is guaranteed, and the feeding speed is accelerated.

In order to solve the problems in the prior art, the invention provides an automatic rectangular steel pipe feeding device, which comprises a hoisting frame in which steel pipes are stacked in a matrix, wherein a lifting bin is arranged in the hoisting frame, a horizontal pushing mechanism for pushing the uppermost steel pipe to move horizontally relative to the lower steel pipe is arranged at the top of the hoisting frame, a lifting mechanism for lifting up a single steel pipe upwards is arranged at one side of the hoisting frame in the pushing direction of the steel pipes, a positioning assembly capable of fixing the uppermost steel pipe is arranged at the top of the hoisting frame, sliding frame bodies capable of being used for sliding and supporting the uppermost steel pipe are arranged at the two sides of the hoisting frame in the length direction of the steel pipes, when the positioning assembly is used for fixing the uppermost steel pipe, the lifting bin is lowered to enable the uppermost steel pipe to be in a separated state with the lower steel pipe, the fixing state of the uppermost steel pipe is released by the sliding frame bodies, and the horizontal pushing mechanism can push the steel pipe to move towards the lifting mechanism in the direction of the sliding frame bodies.

Preferably, the sliding frame body can move along the length direction of the steel pipe, the sliding frame body is provided with a fixed sliding rail extending towards the direction in which the steel pipe is pushed and a movable sliding rail arranged on the fixed sliding rail in a sliding manner, and the movable sliding rail is provided with a clamping groove capable of clamping a row of steel pipes integrally.

Preferably, the fixed slide rail is provided with a rolling part in sliding contact with the movable slide rail.

Preferably, the flat pushing mechanism is provided with a pushing plate with the end part extending towards the direction of the movable sliding rail, and the pushing plate is in sliding connection with the movable sliding rail.

Preferably, the end part of the movable slide rail connected with the push plate is outwards extended with a convex strip, the end part of the push plate is provided with an extension groove in sliding clamping connection with the convex strip, and the convex strip is fixedly provided with an anti-drop block for preventing the push plate from being separated from the movable slide rail.

Preferably, the positioning assembly comprises a pair of pressing plates capable of moving along the length direction of the steel pipe, the pair of pressing plates are symmetrically arranged at two ends of the length direction of the steel pipe, and when the steel pipe is pressed between the pair of pressing plates, the steel pipe is in a fixed state.

Preferably, the pressing surface of the pressing plate has a plunger capable of being inserted into each steel pipe in the row of steel pipes.

Preferably, each insert rod is fixedly provided with a rubber sleeve.

Preferably, a belt which can be contacted with the uppermost steel pipe after the uppermost steel pipe rises in place is arranged above the lifting bin, and at least two belt pulleys for connecting the belt are arranged on the lifting frame.

The invention also provides a feeding method of the automatic rectangular steel pipe feeding device, which comprises the following steps:

s1, starting a lifting bin to drive steel pipes stacked in a matrix to automatically rise in place and then stopping;

S2, starting the positioning assembly to fix the uppermost steel pipe, and then starting the lifting bin to drive the unfixed steel pipe to descend;

S3, starting two sliding frame bodies to support the fixed steel pipes, and then starting a positioning assembly to release the fixation of the steel pipes;

S4, starting the flat pushing mechanism to integrally push a row of steel pipes to move on the sliding frame body until the beginning steel pipes reach the jacking mechanism to stop, and starting the jacking mechanism to jack up the single steel pipe;

s5, starting the mechanical arm to descend, clamping and removing a single jacked steel pipe, continuously pushing the steel pipe to advance in the horizontal direction, and circularly repeating the action until the steel pipe in the hoisting frame is used up.

Compared with the prior art, the application has the beneficial effects that: according to the application, the uppermost steel pipe and the lower steel pipe are separated through the cooperation of the positioning assembly and the lifting bin, and the sliding frame body is utilized to support the steel pipe, so that the friction resistance of the steel pipe in the sliding process is obviously reduced, the abrasion of the surface of the steel pipe caused by mutual friction is effectively avoided, the surface quality of the steel pipe is improved, the service life is prolonged, and the flat pushing mechanism is smoother when pushing the steel pipe to advance due to the elimination of most sliding resistance, so that the feeding speed is accelerated, and the overall production efficiency is improved.

Drawings

Fig. 1 is a schematic three-dimensional structure diagram of an automatic feeding device for rectangular steel pipes.

Fig. 2 is a schematic diagram of a three-dimensional structure of an automatic feeding device for rectangular steel pipes.

Fig. 3 is a partial perspective sectional view of a rectangular steel pipe automatic loading device in a state in which the uppermost steel pipe and the lower steel pipe are separated.

Fig. 4 is a schematic perspective view of a rectangular steel pipe automatic feeding device in which the uppermost steel pipe is supported on a sliding frame body.

Fig. 5 is a partial perspective sectional view of a rectangular steel pipe automatic loading device, in which the uppermost steel pipe is supported on a sliding frame body.

Fig. 6 is a partial three-dimensional sectional view of a second embodiment of an automated rectangular steel pipe feeder, in which the uppermost steel pipe is supported on a carriage.

Fig. 7 is an enlarged schematic view at a of fig. 5.

Fig. 8 is an enlarged schematic view at B of fig. 6.

Fig. 9 is a schematic view of a partial perspective structure in which the uppermost steel pipe of the automated rectangular steel pipe loading device is supported on a carriage body.

Fig. 10 is a partially exploded perspective view of a rectangular steel pipe automated loading device with the uppermost steel pipe supported on a carriage body.

Fig. 11 is an enlarged schematic view at C of fig. 9.

Fig. 12 is an enlarged schematic view at D of fig. 10.

The reference numerals in the figures are: 1. a steel pipe; 2. hoisting the frame; 21. a belt; 211. a belt wheel; 3. lifting a stock bin; 4. a flat pushing mechanism; 41. a push plate; 411. an extension groove; 5. a jacking mechanism; 6. a positioning assembly; 61. a pressing plate; 62. a rod; 621. a rubber sleeve; 7. a carriage body; 71. fixing the sliding rail; 711. a rolling part; 72. a movable slide rail; 721. a convex strip; 722. and (5) preventing the block from falling off.

Detailed Description

The invention will be further described in detail with reference to the drawings and the detailed description below, in order to further understand the features and technical means of the invention and the specific objects and functions achieved.

Referring to fig. 1-6, an automatic rectangular steel pipe feeding device comprises a lifting frame 2 in which steel pipes 1 are stacked in a matrix, wherein a lifting bin 3 is arranged in the lifting frame 2, a horizontal pushing mechanism 4 for pushing the uppermost steel pipe 1 to integrally translate relative to the lower steel pipe 1 is arranged at the top of the lifting frame 2, a jacking mechanism 5 for jacking up a single steel pipe 1 is arranged at one side of the lifting frame 2 in the pushing direction of the steel pipe 1, a positioning component 6 capable of fixing the uppermost steel pipe 1 is arranged at the top of the lifting frame 2, a sliding frame body 7 capable of being slidably supported by the uppermost steel pipe 1 is arranged at the top of the lifting frame 2 and positioned at two sides of the length direction of the steel pipe 1, when the positioning component 6 is used for fixing the uppermost steel pipe 1, the lifting bin 3 descends at the moment so that the uppermost steel pipe 1 is in a separated state with the lower steel pipe 1, when the uppermost steel pipe 1 is separated from the lower steel pipe 1, the sliding frame body 7 supports the uppermost steel pipe 1, the positioning component 6 is released from the fixing state of the steel pipe 1, and the horizontal pushing mechanism 4 can push the uppermost steel pipe 1 in the direction of the lifting frame body 7 towards the direction of the sliding mechanism 5.

Rectangular steel pipes 1 are uniformly and orderly arranged and stacked in a lifting frame 2 according to the external dimension, the lifting frame 2 can stack 26 layers of steel pipes 1, the steel pipes 1 can be placed on a lifting bin 3 through a crane, the lifting bin 3 can automatically ascend or descend, when an automatic function is started, the lifting bin 3 automatically ascends to the top to stop, a horizontal flat pushing mechanism 4 pushes the steel pipes 1 to integrally advance until one steel pipe 1 at the forefront is in place, a single support is jacked up through a jacking mechanism 5, a mechanical arm descends, the clamped steel pipes 1 are removed, the steel pipes 1 are pushed continuously in the horizontal direction to advance, ejection is carried out, and the operation is repeated circularly until the steel pipes 1 in the lifting bin 3 are used up.

However, in order to avoid the situation that the moving resistance of the upper steel pipe 1 on the lower steel pipe 1 is large, at this time, after the lifting bin 3 lifts the steel pipe 1 in place, the positioning component 6 fixes the uppermost steel pipe 1 row, the lifting bin 3 immediately controls the unfixed steel pipe 1to descend, so that the uppermost steel pipe 1 row is separated from the lower steel pipe 1, then the sliding frame bodies 7 at the two ends of the steel pipe 1 move to the lower side of the steel pipe 1, the steel pipe 1 is supported by the sliding frame bodies 7, so that the steel pipe 1 can slide on the sliding frame bodies 7, the positioning component 6 releases the fixed state of the steel pipe 1, compared with the contact sliding between the upper steel pipe 1 and the lower steel pipe 1, the friction resistance is reduced, the surface of the steel pipe 1 is protected from being worn, the lifting mechanism 5 lifts the single steel pipe 1 along with the whole pushing of the flat pushing mechanism 4 until the foremost steel pipe 1 reaches the area of the lifting mechanism 5, and the above steps are repeated until all the steel pipes 1 are taken out.

Referring to fig. 3 to 7, 9 and 10, the carriage body 7 is movable along the longitudinal direction of the steel pipe 1, the carriage body 7 has a fixed rail 71 extending in the direction in which the steel pipe 1 is pushed, and a movable rail 72 slidably provided on the fixed rail 71, and the movable rail 72 has a clamping groove capable of clamping the entire row of steel pipes 1 therein.

After the rectangular steel pipes 1 on the uppermost layer are separated from the steel pipes 1 on the lower layer, the sliding frame body 7 precisely moves to the lower side of the steel pipes 1 to be pushed along the length direction of the steel pipes 1, the fixed sliding rail 71 is used as a supporting base, the movable sliding rail 72 is arranged on the fixed sliding rail 71 and can slide along the fixed sliding rail 71, after the sliding frame body 7 moves in place, the clamping grooves on the movable sliding rail 72 just clamp a row of rectangular steel pipes 1 into the clamping grooves, then, the movable sliding rail 72 is driven by the pushing mechanism 4, and the steel pipes 1 are stably fixed by the clamping grooves of the movable sliding rail 72, so that the steel pipes 1 can stably slide along the fixed sliding rail 71 in the pushing process until the forefront steel pipes 1 reach the jacking mechanism 5 area, the resistance and the shaking in the pushing process are greatly reduced, and the surface of the steel pipes 1 are effectively protected from being worn.

As shown in fig. 7, 9 and 10, the fixed rail 71 is provided with a rolling portion 711 which is in sliding contact with the movable rail 72.

The rolling part 711 is a roller in this solution, and may be other choices, so as to further optimize the moving performance of the movable sliding rail 72 on the fixed sliding rail 71, reduce the friction resistance, and compared with sliding friction, the rolling friction has smaller resistance, so that the movement of the movable sliding rail 72 is smoother, thereby improving the overall feeding speed and efficiency.

Referring to fig. 9 and 10, the flat pushing mechanism 4 has a pushing plate 41 with an end extending in the direction of the movable rail 72, and the pushing plate 41 is slidably connected to the movable rail 72.

Because the push plate 41 and the movable slide rail 72 are in a sliding connection manner, the movable slide rail 72 can be pushed and pulled by the push plate 41 to slide on the fixed slide rail 71, the movable slide rail 72 can also move along the length direction of the steel pipe 1 relative to the push plate 41, after the uppermost steel pipe 1 is separated from the lower steel pipe 1, the movable slide rail 72 starts to act again until the movable slide rail 72 clamps a row of steel pipes 1 into the clamping groove, and the movable slide rail 72 stably slides along the rolling part 711 on the fixed slide rail 71 under the pushing action of the push plate 41, so that the whole row of steel pipes 1 are driven to move forwards.

Referring to fig. 11 and 12, the end of the movable slide rail 72 connected to the push plate 41 extends outwards to form a protruding strip 721, the end of the push plate 41 is provided with an extending slot 411 slidably engaged with the protruding strip 721, and the protruding strip 721 is fixedly provided with a drop-preventing block 722 for preventing the push plate 41 from separating from the movable slide rail 72.

The protruding strip 721 extending from the end of the movable slide rail 72 is matched with the extending slot 411 formed at the end of the push plate 41 to form a sliding clamping structure, when the movable slide rail 72 moves along the length direction of the steel pipe 1, the protruding strip 721 slides in the extending slot 411, so that the movable slide rail 72 supports the steel pipe 1, when the push plate 41 pushes the movable slide rail 72, pushing force can be effectively transmitted to the movable slide rail 72, when the push plate 41 pulls the movable slide rail 72, the anti-falling block 722 fixed on the protruding strip 721 plays a role of locking and limiting, the push plate 41 is prevented from being separated from the movable slide rail 72 when the movable slide rail 72 is pulled, the movable slide rail 72 is ensured to be pulled back smoothly, and stable connection between the push plate 41 and the movable slide rail 72 is ensured.

Referring to fig. 1 to 5, the positioning assembly 6 includes a pair of pressing plates 61 movable along the longitudinal direction of the steel pipe 1, the pair of pressing plates 61 being symmetrically disposed at both ends of the steel pipe 1 in the longitudinal direction, and the steel pipe 1 is in a fixed state when the steel pipe 1 is pressed between the pair of pressing plates 61.

When the uppermost steel pipe 1 is required to be fixed, the positioning assembly 6 is started, the pair of pressing plates 61 synchronously move towards the steel pipes 1 until the pressing plates 61 contact the steel pipes 1 and clamp the steel pipes 1 between the pressing plates, the steel pipes 1 are firmly fixed under the clamping action of the pressing plates 61, and the uppermost steel pipe 1 is ensured to remain stationary and not to be influenced by the movement of the lower steel pipe 1 in the process that the lifting bin 3 controls the lower steel pipe 1 to descend and the sliding frame body 7 to move below the steel pipes 1.

Referring to fig. 7, 8 and 10, the pressing surface of the pressing plate 61 has a plunger 62 capable of inserting each steel pipe 1 in a row of steel pipes 1.

When the positioning assembly 6 fixes a row of steel pipes 1, the pressing plates 61 move along the length direction of the steel pipes 1 to be in contact with the end parts of the steel pipes 1, the steel pipes 1 are extruded between the pair of pressing plates 61, the inserting rods 62 on the extrusion surfaces of the pressing plates 61 are correspondingly inserted into each steel pipe 1 of the row of steel pipes 1 respectively, after the inserting rods 62 are inserted into the steel pipes 1, the inserting rods 62 support the steel pipes 1 under the action of gravity after the lower layer steel pipes 1 descend along with the lifting bin 3 to be far away from the fixed steel pipes 1, and the whole row of steel pipes 1 are fixed in place more effectively.

Referring to fig. 8, each of the insert rods 62 is fixedly provided with a rubber sleeve 621.

When the insert rod 62 on the pressing plate 61 is inserted into the steel pipe 1, the rubber sleeve 621 fixed on the insert rod 62 firstly contacts the surface of the steel pipe 1, the rubber sleeve 621 has good elasticity and buffering performance, and the hard contact between the insert rod 62 and the steel pipe 1 can be reduced, so that the scratch and abrasion on the surface of the steel pipe 1 are reduced, and the surface quality of the steel pipe 1 is protected.

Referring to fig. 4 and 6, a belt 21 capable of contacting the uppermost steel pipe 1 after the uppermost steel pipe 1 rises in place is provided above the lifting bin 3, and at least two pulleys 211 for connecting the belt 21 are provided on the lifting frame 2.

When the uppermost steel pipe 1 rises in place under the control of the lifting bin 3, the belt 21 is contacted with the uppermost steel pipe 1, at the moment, the lower steel pipe 1 is separated from the uppermost steel pipe 1, and when the steel pipe 1 is pushed, the uppermost steel pipe 1 is limited between the belt 21 and the movable sliding rail 72, the steel pipe 1 can only move along with the movable sliding rail 72, and when the steel pipe 1 moves forwards under the thrust, the belt 21 contacted with the steel pipe 1 moves around the belt pulley 211 under the action of the thrust so as to balance the force acting on the steel pipe 1, so that the stability of the steel pipe 1 in the pushing process is ensured.

A feeding method of an automatic rectangular steel pipe feeding device is applied to the automatic rectangular steel pipe feeding device and comprises the following steps:

S1, starting a lifting bin 3 to drive steel pipes 1 stacked in a matrix to automatically rise in place and then stopping;

S2, starting the positioning assembly 6 to fix the uppermost steel pipe 1, and then starting the lifting bin 3 to drive the unfixed steel pipe 1 to descend;

s3, starting two sliding frame bodies 7 to support the fixed steel pipe 1, and then starting a positioning assembly 6 to release the fixation of the steel pipe 1;

S4, starting the flat pushing mechanism 4 to integrally push a row of steel pipes 1 to move on the sliding frame body 7 until the beginning steel pipes 1 reach the jacking mechanism 5 to stop, and starting the jacking mechanism 5 to jack up the single steel pipe 1;

s5, starting the manipulator arm to descend, clamping and removing the single jacked steel pipe 1, continuously pushing the steel pipe 1 to advance in the horizontal direction, and circularly repeating the action until the steel pipe 1 in the hoisting frame 2 is used up.

According to the invention, the uppermost steel pipe 1 is separated from the lower steel pipe 1 through the cooperation of the positioning assembly 6 and the lifting bin 3, and the sliding frame body 7 is utilized to support the steel pipe 1, so that the friction resistance of the steel pipe 1 in the sliding process is remarkably reduced, the abrasion of the surface of the steel pipe 1 caused by mutual friction is effectively avoided, the surface quality of the steel pipe 1 is improved, the service life is prolonged, and the flat pushing mechanism 4 is smoother when pushing the steel pipe 1 to advance due to the elimination of most sliding resistance, so that the feeding speed is accelerated, and the overall production efficiency is improved.

The foregoing examples merely illustrate one or more embodiments of the invention, which are described in greater detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of the invention should be assessed as that of the appended claims.

Claims (10)

1. The automatic rectangular steel pipe feeding device comprises a hoisting frame (2) for stacking steel pipes (1) in a matrix manner, wherein a lifting bin (3) is arranged in the hoisting frame (2), a horizontal pushing mechanism (4) for pushing the uppermost steel pipe (1) to integrally translate relative to the lower steel pipe (1) is arranged at the top of the hoisting frame (2), and a jacking mechanism (5) for jacking up a single steel pipe (1) is arranged at one side of the pushing direction of the steel pipe (1);

The steel pipe lifting device is characterized in that a positioning assembly (6) capable of fixing the uppermost steel pipe (1) is arranged at the top of the lifting frame (2), and a sliding frame body (7) capable of supporting the uppermost steel pipe (1) in a sliding manner is arranged at the top of the lifting frame (2) and positioned at two sides of the steel pipe (1) in the length direction;

when locating component (6) fixed steel pipe (1) on the upper strata, lift feed bin (3) decline makes upper steel pipe (1) and lower floor's steel pipe (1) be in the separation state this moment, when upper steel pipe (1) and lower floor's steel pipe (1) separation back, slide frame body (7) support steel pipe (1) on the upper strata, locating component (6) are relieved the fixed state to steel pipe (1), push mechanism (4) can promote steel pipe (1) on slide frame body (7) and move towards the direction of climbing mechanism (5) this moment.

2. The automatic rectangular steel pipe feeding device according to claim 1, wherein the sliding frame body (7) can move along the length direction of the steel pipes (1), the sliding frame body (7) is provided with a fixed sliding rail (71) extending towards the direction in which the steel pipes (1) are pushed and a movable sliding rail (72) arranged on the fixed sliding rail (71) in a sliding manner, and the movable sliding rail (72) is provided with a clamping groove capable of clamping one row of the steel pipes (1) in the clamping groove.

3. An automated rectangular steel pipe feeding device according to claim 2, wherein the fixed rail (71) is provided with a rolling part (711) in sliding contact with the movable rail (72).

4. A rectangular steel pipe automated feeding device according to claim 3, wherein the flat pushing mechanism (4) is provided with a pushing plate (41) with an end extending towards the direction of the movable slide rail (72), and the pushing plate (41) is slidingly connected with the movable slide rail (72).

5. The automatic rectangular steel pipe feeding device according to claim 4, wherein a protruding strip (721) is outwardly extended from the end portion of the movable slide rail (72) connected with the push plate (41), an extending slot (411) is formed in the end portion of the push plate (41) and is slidably clamped with the protruding strip (721), and an anti-falling block (722) for preventing the push plate (41) from falling off the movable slide rail (72) is fixedly arranged on the protruding strip (721).

6. An automated rectangular steel pipe feeding device according to claim 1, wherein the positioning assembly (6) comprises a pair of pressing plates (61) capable of moving along the longitudinal direction of the steel pipe (1), the pair of pressing plates (61) are symmetrically arranged at both ends of the steel pipe (1) in the longitudinal direction, and the steel pipe (1) is in a fixed state when the steel pipe (1) is pressed between the pair of pressing plates (61).

7. An automated rectangular steel pipe feeding apparatus according to claim 6, wherein the pressing plate (61) has a plunger (62) on the pressing surface for inserting each steel pipe (1) in the row of steel pipes (1).

8. An automated rectangular steel pipe feeding apparatus according to claim 7, wherein each of the insert rods (62) is fixedly provided with a rubber sleeve (621).

9. An automated rectangular steel pipe feeding device according to claim 1, wherein a belt (21) capable of contacting the uppermost steel pipe (1) after the uppermost steel pipe is lifted in place is arranged above the lifting bin (3), and at least two belt pulleys (211) for connecting the belt (21) are arranged on the lifting frame (2).

10. A feeding method of an automatic rectangular steel pipe feeding device, which is applied to the automatic rectangular steel pipe feeding device as claimed in any one of claims 1 to 9, and is characterized by comprising the following steps:

s1, starting a lifting bin (3) to drive steel pipes (1) stacked in a matrix to automatically rise in place and then stopping;

S2, starting a positioning assembly (6) to fix the uppermost steel pipe (1), and then starting a lifting bin (3) to drive the unfixed steel pipe (1) to descend;

S3, starting two sliding frame bodies (7) to support the fixed steel pipe (1), and then starting a positioning assembly (6) to release the fixation of the steel pipe (1);

s4, starting the flat pushing mechanism (4) to integrally push a row of steel pipes (1) to move on the sliding frame body (7) until the beginning steel pipes (1) reach the jacking mechanism (5) to stop, and starting the jacking mechanism (5) to jack up the single steel pipes (1);

s5, starting the manipulator arm to descend, clamping and removing the single lifted steel pipe (1), continuously pushing the steel pipe (1) to advance in the horizontal direction, and circularly repeating the action until the steel pipe (1) in the lifting frame (2) is used up.