Rectangular tube feeding system and control method thereof

Abstract

The application provides a rectangular tube feeding system and a control method thereof, and relates to the technical field of rectangular tube processing. The rectangular tube feeding system comprises a feeding device, a first gripper, a position sensor and a vibrating device. The first gripper comprises two first clamping jaws, and the two first clamping jaws can clamp the rectangular tube in a direction perpendicular to the length of the rectangular tube. The position sensor is located in the moving direction of the first clamping jaws and is used for detecting the position distance of the first clamping jaws to determine whether the posture of the rectangular tube is correct. The vibrating device is used for driving the rectangular tube to vibrate when the two first clamping jaws incorrectly clamp the rectangular tube, so that the two first clamping jaws correctly clamp the rectangular tube. The rectangular tube feeding system can automatically adjust the rectangular tube to a correct posture during the feeding process of the rectangular tube, so that manual adjustment is not required, the processing steps are reduced, the processing efficiency is improved, and the labor intensity of workers is greatly reduced.

Description

Technical Field

[0001] This invention relates to the field of rectangular tube processing technology, and more specifically, to a rectangular tube feeding system and its control method. Background Technology

[0002] During the processing of rectangular tubes (i.e., tubes with a rectangular cross-section), due to equipment limitations or processing requirements, processing is often required on specific sides of the rectangular tube. For example, carving is done on the widest side of the rectangular tube, or beveling is done on the narrowest side of the rectangular tube. In actual processing, the rectangular tubes are stacked on storage racks and fed one by one to the feeding device by a belt feeder. However, since the posture of the rectangular tube after rolling to the target position is uncertain, it is often necessary to manually adjust the posture of the rectangular tube during feeding. This undoubtedly reduces processing efficiency and leads to excessive labor intensity for workers.

[0003] There is currently no effective technical solution to the above problems. Summary of the Invention

[0004] The purpose of this invention is to provide a rectangular tube feeding system and its control method, which can automatically adjust the rectangular tube to the correct posture during the feeding process, thereby eliminating the need for manual adjustment, reducing processing steps, improving processing efficiency, and greatly reducing the labor intensity of workers.

[0005] In a first aspect, the present invention provides a rectangular tube feeding system, including a feeding device for clamping the rectangular tube and driving the rectangular tube to move along the length direction of the rectangular tube, and further including an attitude correction device, the attitude correction device comprising: A first clamp is located on one side of the direction of movement of the rectangular tube. The first clamp includes two first jaws, between which the rectangular tube passes, and the two first jaws are capable of clamping the rectangular tube in a direction perpendicular to the length of the rectangular tube. A position sensor is located on one side of the moving direction of the first gripper and is used to detect the position distance of the first gripper to determine whether the posture of the rectangular tube is correct. A vibration device is used to drive the rectangular tube to vibrate in order to correct the posture of the rectangular tube when the posture of the rectangular tube is incorrect.

[0006] The rectangular tube feeding system provided by this invention realizes real-time detection and adjustment of the rectangular tube's posture through position sensors and vibration devices, thereby improving processing efficiency and reducing the labor intensity of workers.

[0007] Furthermore, a roller is rotatably provided on one side of the first gripper holding the rectangular tube. The rotation axis of the roller is perpendicular to the length direction of the rectangular tube, and the roller can roll relative to the rectangular tube on the surface of the rectangular tube.

[0008] There is no need to intentionally stop the feed of the rectangular tube during testing, which saves time compared to repeatedly starting the feed device.

[0009] Furthermore, the vibration device includes: Movable support frame; The material support wheel is rotatably mounted on the support frame with its rotation axis perpendicular to the length direction of the rectangular tube. The circumferential surface of the material support wheel is provided with a support portion that gradually concaves inward from both sides of the axial direction. The support portion is used to support the rectangular tube. A first driving device is used to drive the support frame to vibrate the rectangular tube via the material support wheel.

[0010] This helps to ensure that the feed position of the rectangular tube remains unchanged, so that the feed device and the first clamp can accurately clamp the rectangular tube.

[0011] Furthermore, the first driving device includes a first driving motor and a gear, the first driving motor being connected to the gear; the support frame is fixedly provided with a rack, the rack being meshed with the gear; the first driving motor is used to drive the gear to rotate bidirectionally back and forth to cause the rectangular tube to vibrate.

[0012] The first drive motor drives the gear to rotate back and forth in both directions, thereby causing the rectangular tube to vibrate up and down, which in turn forces the rectangular tube to flip and change its posture. Its overall structure is simple, easy to implement, low in cost and highly reliable.

[0013] Furthermore, the feeding device includes: Slide rail; A second clamp is slidably disposed on the slide rail and is provided with a movable second jaw; the second jaw is used to clamp the rectangular tube. A second driving device is connected to the second clamp and is used to drive the second clamp to move the rectangular tube along the length direction of the rectangular tube.

[0014] Furthermore, the second driving device is a pneumatic cylinder or a hydraulic cylinder.

[0015] Furthermore, the second drive device is a belt drive mechanism.

[0016] Furthermore, the feeding device includes two parallel slide rails, and the second gripper is slidably mounted on the two slide rails; The belt drive mechanism includes a second drive motor, two pulleys and a belt. The two pulleys are respectively arranged on both sides of the slide rail along its length. The belt is arranged between the two slide rails and extends along the length of the slide rails. The belt is sleeved on the two pulleys and fixedly connected to the clamp. The second drive motor is connected to one of the pulleys and is used to drive the pulley to rotate so as to drive the second clamp to reciprocate along the length of the slide rail via the belt.

[0017] Furthermore, an elastic pad is provided on one side of the second gripper that holds the rectangular tube.

[0018] Secondly, the present invention provides a control method for the above-mentioned rectangular tube feeding system, comprising the steps of: S1. Control the feeding device to clamp the rectangular tube and drive the rectangular tube to move toward the first clamp; S2. As the rectangular tube passes between the two first grippers, the following steps S21-S24 are executed repeatedly until the position sensor determines that the rectangular tube's orientation is correct: S21. Control the two first grippers to hold the rectangular tube and determine whether the posture of the rectangular tube is correct through the position sensor; S22. When the rectangular tube is in the correct orientation, exit the loop; S23. When the rectangular tube is in the wrong posture, control the feeding device to brake and release the rectangular tube, and control the two first grippers to release the rectangular tube. S24. Control the vibration device to drive the rectangular tube to vibrate; S3. Control the feeding device to re-clamp the rectangular tube and drive the rectangular tube to move.

[0019] As can be seen from the above, the rectangular tube feeding system provided by the present invention uses a position sensor to determine the current posture of the rectangular tube, and cleverly corrects the posture of the rectangular tube by vibration through a vibration device, thereby eliminating the need for manual straightening of the rectangular tube during processing. No manual adjustment is required, which greatly improves processing efficiency and significantly reduces the labor intensity of workers.

[0020] Other features and advantages of the invention will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing embodiments of the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures particularly pointed out in the written description and the accompanying drawings. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the rectangular tube feeding system provided in an embodiment of the present invention from one perspective.

[0022] Figure 2 This is a schematic diagram of the rectangular tube feeding system provided in an embodiment of the present invention from another perspective.

[0023] Figure 3 A flowchart of a control method provided in an embodiment of the present invention.

[0024] Label Explanation: 100. Feeding device; 110. Slide rail; 120. Second gripper; 121. Second gripper; 122. Elastic pad; 131. Second drive motor; 132. Pulley; 133. Belt; 200. First gripper; 210. First gripper; 211. Roller; 300. Position sensor; 400. Vibration device; 410. Support frame; 411. Rack; 420. Material support wheel; 421. Support part; 431. First drive motor; 432. Gear. Detailed Implementation

[0025] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0026] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0027] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection, an electrical connection, or a connection that allows for communication; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0028] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0029] The following disclosure provides many different embodiments or examples for implementing various structures of the invention. To simplify the disclosure, specific examples of components and arrangements are described below. These are merely examples and are not intended to limit the invention. Furthermore, reference numerals and / or letters may be repeated in different examples; such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. In addition, examples of various specific processes and materials are provided in this invention, but those skilled in the art will recognize the application of other processes and / or the use of other materials.

[0030] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0031] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of the stated features. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified. Also, in the description of this invention, the terms "first," "second," etc., are used only for distinguishing descriptions and should not be construed as indicating or implying relative importance.

[0032] It should be noted that the terms "up and down," "left and right," and "front and back" mentioned below are in conjunction with the appendix. Figure 1 The indicated directions are for reference, with the front and back directions being the direction of movement when feeding the rectangular tube.

[0033] Please refer to Figure 1 , Figure 1 This is a schematic diagram of a rectangular tube feeding system. The system includes a feeding device 100, which clamps the rectangular tube and moves it along its length. It also includes an attitude correction device, which comprises: The first clamp 200 is located on one side of the direction of movement of the rectangular tube. The first clamp 200 includes two first jaws 210, between which the rectangular tube passes, and the two first jaws 210 can clamp the rectangular tube in a direction perpendicular to the length of the rectangular tube. Position sensor 300 is located on one side of the moving direction of the first gripper 210 and is used to detect the position distance of the first gripper 210 to determine whether the posture of the rectangular tube is correct. Vibration device 400 is used to drive the rectangular tube to vibrate in order to correct the posture of the rectangular tube when the posture of the rectangular tube is incorrect.

[0034] In practical applications, since the position of the first gripper 210 when gripping the wide side is different from that when gripping the narrow side, this embodiment uses the position sensor 300 to detect the position distance of the first gripper 210 when gripping the rectangular tube. This allows for accurate determination of whether the first gripper 210 is correctly gripping the rectangular tube, thereby determining whether the current posture of the rectangular tube meets the requirements (for example, the correct posture of the rectangular tube means that the two opposite sides of the rectangular tube are respectively facing the two first grippers 210. At this time, the detected position distance of the first gripper 210 is the pre-calibrated first distance. If the deviation between the actual detected distance and the first distance exceeds the allowable range, the posture of the rectangular tube is determined to be incorrect; otherwise, the posture of the rectangular tube is determined to be correct). When the posture of the rectangular tube is incorrect, the vibration device 400 is controlled to drive the rectangular tube to vibrate, and the vibration drives the rectangular tube to flip. Since the posture of the rectangular tube after vibration is still uncertain, the first gripper 210 may need to perform multiple gripping operations, and the position sensor 300 may need to perform multiple detections until the posture of the rectangular tube is determined to be correct. In this method, workers only need to stack the rectangular tubes on the storage rack without having to pay attention to the posture of each rectangular tube, which greatly improves processing efficiency and reduces the labor intensity of workers.

[0035] In some embodiments, reference is made to the appendix. Figure 1 The first gripper 210 has a roller 211 rotatably mounted on one side of the rectangular tube. The rotation axis of the roller 211 is perpendicular to the length direction of the rectangular tube, and the roller 211 can roll relative to the rectangular tube on the surface of the rectangular tube.

[0036] In this embodiment, when the first gripper 210 grips the rectangular tube, the roller 211 can roll on the rectangular tube, so the frictional resistance between the roller 211 and the rectangular tube is small. Therefore, even if the rectangular tube is gripped by the first gripper 210, it will not be hindered from moving. This is beneficial to realize the simultaneous control of the feeding device 100 to drive the rectangular tube to move and the real-time detection of the rectangular tube's posture. There is no need to intentionally stop the feeding of the rectangular tube at the detection time, which saves the time spent on repeatedly starting the feeding device 100 to a certain extent.

[0037] In practical applications, if the orientation of the rectangular tube is not detected as correct, the feed device 100 can be controlled to move slowly to reduce the feed speed of the rectangular tube. If the orientation of the rectangular tube is confirmed to be correct, the feed device 100 can be adjusted to the normal feed speed. If the orientation of the rectangular tube is confirmed to be incorrect, the feed device 100 can be braked, and then the vibration device 400 can be controlled to correct the orientation of the rectangular tube.

[0038] In some embodiments, reference is made to the appendix. Figure 1 and attached Figure 2 The vibration device 400 includes: Movable support frame 410; The material support roller 420 is rotatably mounted on the support frame 410 with its rotation axis perpendicular to the length direction of the rectangular tube. The circumferential surface of the material support roller 420 is provided with a support portion 421 that gradually recesses inward from both sides of the axial direction. The support portion 421 is used to support the rectangular tube. The first driving device is used to drive the support frame 410 to drive the rectangular tube to vibrate through the material support wheel 420.

[0039] In this embodiment, the circumferential surface of the material support roller 420 is provided with a concave support portion 421 to support the rectangular tube. Since the two sides of the support portion 421 gradually concave inward, the support portion 421 can play a guiding role, ensuring that the rectangular tube will not fall off the support portion 421 after vibration and will always fall at the bottom end position (generally the center position) of the support portion 421. This helps to ensure that the feed position of the rectangular tube remains unchanged so that the feed device 100 and the first clamp 200 can accurately clamp the rectangular tube.

[0040] In some embodiments, the first driving device can drive the support frame 410 to reciprocate in one direction by means of spring drive, electromagnetic drive, etc., such as moving up and down, moving left and right, etc., thereby causing the material support roller 420 to vibrate the rectangular tube through reciprocating motion. However, it is not limited to this. All devices and structures that can produce a vibration effect are within the protection scope of this invention.

[0041] In some preferred embodiments, refer to the appendix Figure 1 and attached Figure 2 The first driving device includes a first driving motor 431 and a gear 432, with the first driving motor 431 connected to the gear 432; a rack 411 is fixedly mounted on the support frame 410, and the rack 411 is meshed with the gear 432; the first driving motor 431 is used to drive the gear 432 to rotate back and forth in both directions to make the rectangular tube vibrate.

[0042] In this embodiment, for example, the support frame 410 can move back and forth in the vertical direction. In actual application, the first drive motor 431 drives the gear 432 to rotate in both directions to control the support frame 410 to move back and forth in the vertical direction, thereby causing the rectangular tube to vibrate up and down, thereby forcing the rectangular tube to flip and changing the posture of the rectangular tube. Its overall structure is simple, the implementation is relatively easy, the cost is low and the reliability is high.

[0043] In some embodiments, reference is made to the appendix. Figure 1 and attached Figure 2 The feed device 100 includes: Slide rail 110; The second gripper 120 is slidably disposed on the slide rail 110 and is provided with a movable second jaw 121; the second jaw 121 is used to grip the rectangular tube. The second driving device is connected to the second clamp 120 and is used to drive the second clamp 120 to move the rectangular tube along the length of the rectangular tube.

[0044] In this embodiment, when the vibration device 400 drives the rectangular tube to vibrate in actual application, the second gripper 120 needs to stop moving and the second gripper 121 needs to release the rectangular tube.

[0045] Specifically, the second gripper 121 can grip the rectangular tube from one end or from between the two ends along its length.

[0046] In some embodiments, the second drive device is a pneumatic cylinder or a hydraulic cylinder.

[0047] In some embodiments, the second drive device is a belt drive mechanism.

[0048] In some embodiments, reference is made to the appendix. Figure 1 and attached Figure 2 The feeding device 100 includes two parallel slide rails 110, and the second gripper 120 is slidably disposed on the two slide rails 110. The belt drive mechanism includes a second drive motor 131, two pulleys 132 and a belt 133. The two pulleys 132 are respectively arranged on both sides of the slide rail 110 along its length. The belt 133 is arranged between the two slide rails 110 and extends along the length of the slide rail 110. The belt 133 is sleeved on the two pulleys 132 and fixedly connected to the second clamp 120. The second drive motor 131 is connected to one of the pulleys 132 and is used to drive the pulley 132 to rotate so as to drive the second clamp 120 to reciprocate along the length of the slide rail 110 via the belt 133.

[0049] In this embodiment, the belt drive mechanism is set between two parallel slide rails 110. The second clamp 120 is slidably set on the two slide rails 110 and driven by the belt 133. The two slide rails 110 play an auxiliary guiding role, which can improve the stability of the second clamp 120 when it moves, thereby ensuring the smooth feeding of the rectangular tube and improving the processing accuracy.

[0050] In some embodiments, reference is made to the appendix. Figure 1 and attached Figure 2An elastic pad 122 is provided on one side of the second gripper 121 that grips the rectangular tube. The elastic pad 122 can increase the friction between the second gripper 121 and the rectangular tube, thereby ensuring that the second gripper 121 can stably grip and drive the rectangular tube to move. In addition, the elastic pad 122 is in flexible contact with the rectangular tube, which can prevent the surface of the rectangular tube from being damaged when the second gripper 121 grips and drives the rectangular tube to move, thus affecting the quality of the finished product.

[0051] Please refer to Figure 3 , Figure 3 This is a flowchart of a control method for the rectangular tube feeding system in the above embodiments. The control method includes the following steps: S1. Control the feeding device to clamp the rectangular tube and drive the rectangular tube to move in the direction of the first clamp; S2. As the rectangular tube passes between the two first grippers, repeat the following steps S21-S24 until the position sensor determines that the rectangular tube's orientation is correct: S21. Control the two first grippers to hold the rectangular tube and determine whether the posture of the rectangular tube is correct through the position sensor; S22. Exit the loop when the rectangular tube is in the correct orientation; S23. When the rectangular tube is in the wrong posture, control the feed device to brake and release the rectangular tube, and control the two first grippers to release the rectangular tube. S24. Control the vibration device to drive the rectangular tube to vibrate; S3. Control the feed device to re-clamp the rectangular tube and drive the rectangular tube to move.

[0052] In this embodiment, the feeding device clamps the rectangular tube and drives it to feed. During the feeding process, the first gripper clamps the rectangular tube and the position sensor detects the position distance of the first gripper. Based on the position distance, the position of the rectangular tube clamped by the first gripper (i.e., the widest side position or the narrowest side position) is determined, thereby determining whether the posture of the rectangular tube is correct. When the posture of the rectangular tube is incorrect, since it is necessary to drive the rectangular tube to vibrate, it is necessary to first control the feeding device to brake and release the rectangular tube, and at the same time control the first gripper to release the rectangular tube. This avoids the rectangular tube being limited and unable to flip smoothly. After one vibration, the first gripper is controlled to clamp the rectangular tube again and the position distance of the first gripper is detected again. This process is repeated until the posture of the rectangular tube is correct. Finally, the feeding device is controlled to clamp the rectangular tube again and drive it to move.

[0053] It should be noted that, for example, if the widest side of the rectangular tube is specified as the upper surface and is processed thereon, an incorrect rectangular tube posture means that the first gripper is in contact with the widest side of the rectangular tube, at which point the upper surface of the rectangular tube is the narrowest side, or it means that the rectangular tube is not aligned properly and is in a tilted state.

[0054] In this document, relational terms such as first and second are used only to distinguish one entity or operation from another entity or operation, without necessarily requiring or implying any such actual relationship or order between these entities or operations.

[0055] The use of terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refers to specific features, structures, materials, or characteristics described in connection with the described embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0056] The above description is merely an embodiment of the present invention and is not intended to limit the scope of protection of the present invention. For those skilled in the art, the present invention can have various modifications and variations. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A rectangular tube feeding system, comprising a feeding device (100), the feeding device (100) being used to clamp the rectangular tube and drive the rectangular tube to move along the length direction of the rectangular tube, characterized in that, It also includes an attitude correction device, which comprises: A first clamp (200) is located on one side of the rectangular tube in the direction of movement. The first clamp (200) includes two first jaws (210), between which the rectangular tube passes, and the two first jaws (210) are capable of clamping the rectangular tube in a direction perpendicular to the length of the rectangular tube. A position sensor (300) is located on one side of the moving direction of the first gripper (210) and is used to detect the position distance of the first gripper (210) to determine whether the posture of the rectangular tube is correct. Vibration device (400), the vibration device (400) is used to drive the rectangular tube to vibrate in order to correct the posture of the rectangular tube when the posture of the rectangular tube is incorrect. The vibration device (400) includes: Movable support frame (410); The material support wheel (420) is rotatably mounted on the support frame (410) with its rotation axis perpendicular to the length direction of the rectangular tube. The circumferential surface of the material support wheel (420) is provided with a support portion (421) that gradually recesses inward from both sides of the axial direction. The support portion (421) is used to support the rectangular tube. A first driving device is used to drive the support frame (410) to drive the rectangular tube to vibrate through the material support wheel (420). The first driving device includes a first driving motor (431) and a gear (432), the first driving motor (431) being connected to the gear (432); the support frame (410) is fixedly provided with a rack (411), the rack (411) being meshed with the gear (432); the first driving motor (431) is used to drive the gear (432) to rotate back and forth in both directions to make the rectangular tube vibrate.

2. The rectangular tube feeding system according to claim 1, characterized in that, The first gripper (210) has a roller (211) rotatably mounted on one side of the rectangular tube. The rotation axis of the roller (211) is perpendicular to the length direction of the rectangular tube, and the roller (211) can roll relative to the rectangular tube on the surface of the rectangular tube.

3. The rectangular tube feeding system according to claim 1, characterized in that, The feeding device (100) includes: Slide rail (110); The second clamp (120) is slidably disposed on the slide rail (110) and is provided with a movable second jaw (121); the second jaw (121) is used to clamp the rectangular tube; The second driving device is connected to the second clamp (120) and is used to drive the second clamp (120) to move the rectangular tube along the length direction of the rectangular tube.

4. The rectangular tube feeding system according to claim 3, characterized in that, The second driving device is a pneumatic cylinder or a hydraulic cylinder.

5. The rectangular tube feeding system according to claim 3, characterized in that, The second drive device is a belt drive mechanism.

6. The rectangular tube feeding system according to claim 5, characterized in that, The feeding device (100) includes two parallel slide rails (110), and the second clamp (120) is slidably disposed on the two slide rails (110); The belt drive mechanism includes a second drive motor (131), two pulleys (132) and a belt (133). The two pulleys (132) are respectively arranged on both sides of the slide rail (110) along its length. The belt (133) is arranged between the two slide rails (110) and extends along the length of the slide rails (110). The belt (133) is sleeved on the two pulleys (132) and fixedly connected to the second clamp (120). The second drive motor (131) is connected to one of the pulleys (132) and is used to drive the pulley (132) to rotate so as to drive the second clamp (120) to reciprocate along the length of the slide rail (110) via the belt (133).

7. The rectangular tube feeding system according to claim 3, characterized in that, The second gripper (121) has an elastic pad (122) on one side of the rectangular tube.

8. A control method for a rectangular tube feeding system as described in any one of claims 1-7, characterized in that, Including the following steps: S1. Control the feeding device to clamp the rectangular tube and drive the rectangular tube to move toward the first clamp; S2. As the rectangular tube passes between the two first grippers, the following steps S21-S24 are executed repeatedly until the position sensor determines that the rectangular tube's orientation is correct: S21. Control the two first grippers to hold the rectangular tube and determine whether the posture of the rectangular tube is correct through the position sensor; S22. When the rectangular tube is in the correct orientation, exit the loop; S23. When the rectangular tube is in the wrong posture, control the feeding device to brake and release the rectangular tube, and control the two first grippers to release the rectangular tube. S24. Control the vibration device to drive the rectangular tube to vibrate; S3. Control the feeding device to re-clamp the rectangular tube and drive the rectangular tube to move.

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