A fully automated multi-station angle steel production line

Abstract

This invention relates to a fully automatic multi-functional angle steel production line, which includes a feeding conveying mechanism, a destacking mechanism, a first flipping mechanism, a cutting and punching mechanism, a second flipping mechanism, a marking and corner cutting mechanism, a discharge conveying mechanism, and a control unit. This fully automatic multi-station angle steel production line is a processing center that includes functions such as angle steel destacking, flipping, cutting, punching, and marking. The destacking mechanism destackings stacks of angle steel, and the first flipping mechanism flips reversed angle steel to its upright position, facilitating angle steel processing and effectively improving processing efficiency. The entire process requires no manual intervention, saving manpower and offering high reliability.

Description

Technical Field

[0001] This invention relates to the field of intelligent manufacturing technology, and in particular to a fully automated multi-station angle steel production line. Background Technology

[0002] Angle steel, commonly known as angle iron, is a long strip of steel with two sides perpendicular to each other, forming an angle. It is divided into equal-sided angle steel and unequal-sided angle steel. The two sides of equal-sided angle steel are of equal width, and its specifications are expressed in millimeters as side width × side width × side thickness. Angle steel can be used to form various load-bearing components according to different structural needs, and can also be used as connecting parts between components. It is widely used in various building structures and engineering structures.

[0003] Due to the inherent structure of angle steel, it is typically stacked using an interlocking method with opposite sides facing each other. This means that from bottom to top, the first layer of angle steel is placed face down in an inverted V-shape (lying flat), while the second layer is placed face up in a V-shape (standing upright), and so on. However, in current angle steel production processes, the stacked angle steel needs to be unstacked. This interlocking stacking method, especially when the lengths of the angle steel in each stack are varying, is not only inconvenient for handling and unstacking, but also requires manual flipping of the reversed angle steel after unstacking before processing. Overall, this leads to significant differences in production cycle time and low production efficiency. Summary of the Invention

[0004] Therefore, it is necessary to address the current situation.

[0005] This invention proposes a fully automatic multi-functional angle steel production line, characterized by comprising a feeding conveying mechanism, a destacking mechanism, a first flipping mechanism, a cutting and punching mechanism, a second flipping mechanism, a marking and corner-cutting mechanism, a discharge conveying mechanism, and a control unit. The feeding conveying mechanism transports stacks of angle steel, consisting of multiple upright and reverse-positioned angle steels, to the destacking mechanism. The destacking mechanism transfers the upright and reverse-positioned angle steels to the cutting and punching mechanism and the first flipping mechanism, respectively. The first flipping mechanism flips the angle steels and transfers them to the cutting and punching mechanism. The cutting and punching mechanism cuts and punches the angle steels and transfers the cut and punched angle steels to the second flipping mechanism. The second flipping mechanism flips the angle steels and transfers them to the discharge conveying mechanism. The marking and corner-cutting mechanism marks and cuts the angle steels on the discharge conveying mechanism, which then transports the marked and cut angle steels out. The control unit controls the operation of the feeding conveying mechanism, the destacking mechanism, the first flipping mechanism, the cutting and punching mechanism, the second flipping mechanism, the marking and corner-cutting mechanism, and the discharge conveying mechanism.

[0006] As a further improvement of the above-mentioned solution of the present invention, the unstacking mechanism includes a detection component and several gripping components; the detection component includes a 3D camera and a camera moving track, the camera moving track is set above the feeding conveying mechanism and its extension direction is consistent with the conveying direction of the feeding conveying mechanism, the 3D camera is slidably mounted on the camera moving track and can move on the camera moving track; several gripping components are arranged sequentially at intervals along the conveying direction of the feeding conveying mechanism, each gripping mechanism includes a truss and two gripping manipulators, the truss spans the feeding conveying mechanism, the two gripping manipulators are mounted on the truss and can move on the truss, the end of the gripping manipulator is connected to a magnetic suction mechanism, the magnetic suction mechanism includes several sets of magnetic suction elements, each set has two magnetic suction elements arranged opposite each other, the bottom of the opposite side of the two magnetic suction elements and the bottom of the side away from each other both have inclined surfaces.

[0007] As a further improvement of the above-mentioned solution of the present invention, the flipping mechanism 1 includes two flipping components 1, which are arranged opposite to each other on both sides of the feeding conveying mechanism; each flipping component 1 includes a mounting frame 1, a dual-axis motor 1, and two flipping parts 1, the dual-axis motor 1 being mounted on the mounting frame 1; the two flipping parts 1 are respectively arranged on both sides of the dual-axis motor 1, and each flipping part 1 includes a flipping shaft 1 and multiple brackets 1, the flipping shaft 1 being connected to the dual-axis motor 1, and the multiple brackets 1 being spaced apart along the axial direction of the flipping shaft 1 and each of the multiple brackets 1 being connected to the flipping shaft 1.

[0008] As a further improvement of the above-mentioned solution of the present invention, the cutting and punching mechanism includes two cutting and punching components, which are respectively arranged in correspondence with two flipping components. Each cutting and punching component includes a cutting and punching machine and a feeding conveyor and a receiving conveyor arranged on both sides of the cutting and punching machine. The feeding conveyor is arranged on the side of the corresponding flipping component away from the feeding conveyor. When a pair of angle steels is flipped by the flipping component, the flipped angle steels fall onto the feeding conveyor. The feeding conveyor is used to convey the angle steels to the cutting and punching machine, and the receiving conveyor is used to convey the angle steels that have passed through the cutting and punching machine forward.

[0009] As a further improvement of the above-mentioned solution of the present invention, the flipping mechanism 2 includes two flipping components 2, which are respectively arranged in correspondence with two cutting and punching components; each flipping component 2 includes a mounting frame 2, a dual-axis motor 2, and two flipping parts 2. The mounting frame 2 is arranged on one side of the corresponding receiving conveyor line, and the dual-axis motor 2 is mounted on the mounting frame 2; the two flipping parts 2 are respectively arranged on both sides of the dual-axis motor 2. Each flipping part 2 includes a flipping shaft 2 and multiple brackets 2. The flipping shaft 2 is connected to the dual-axis motor 2, and the multiple brackets 2 are spaced apart along the axial direction of the flipping shaft 2 and are all connected to the flipping shaft 2; in the initial state, the end of the multiple brackets 2 away from the flipping shaft 2 is located above the corresponding receiving conveyor line.

[0010] As a further improvement of the above-mentioned solution of the present invention, the marking and corner cutting mechanism includes two marking and corner cutting components, a tail-end corner cutting robot, and a head-end corner cutting robot. The two marking and corner cutting components are respectively arranged in a one-to-one correspondence with the two flipping components. Each marking and corner cutting component includes a lifting and translating mechanism, a marking conveyor line, and a marking machine. The flipping component flips the angle steel and transfers it to the lifting and translating mechanism, which is used to transfer the angle steel to the marking conveyor line. The marking machine is used to mark the angle steel on the marking conveyor line. The tail-end corner cutting robot and the head-end corner cutting robot are set at both ends of the marking conveyor line and respectively perform corner cutting processing on the tail end and head of the angle steel on the marking conveyor line.

[0011] As a further improvement of the above-mentioned solution of the present invention, the marking conveyor line includes multiple roller conveyors arranged side by side at intervals; each roller conveyor includes a mounting frame, several conveyor shafts, several conveyor rollers, a conveyor motor and a transmission component. The several conveyor shafts are arranged side by side at intervals and both ends of the several conveyor shafts are rotatably mounted on the mounting frame. The several conveyor rollers are respectively mounted on the several conveyor shafts. The conveyor motor is connected to the several conveyor shafts through the transmission component and is used to drive the several conveyor shafts to rotate.

[0012] As a further improvement of the above-mentioned solution of the present invention, the lifting and translating mechanism includes a fixed frame, a lifting frame, a translating frame, a lifting drive component, and a translating drive component. The mounting frames of multiple roller conveyors are all fixed on the fixed frame. The lifting drive component is installed on the fixed frame and is used to drive the lifting frame to move in the vertical direction. The translating frame is slidably installed on the lifting frame. Multiple material support components are arranged side by side on the translating frame, and the distance between any two adjacent material support components is the same. Each material support component includes multiple material support frames spaced apart along the conveying direction of the marking conveyor line. The connecting direction of the multiple material support components is perpendicular to the conveying direction of the marking conveyor line, and one of the material support components is arranged corresponding to the marking conveyor line. A material support frame is arranged between any two adjacent roller conveyors of the marking conveyor line. The translating drive component is installed on the lifting frame and is used to drive the translating frame to move on the lifting frame along the connecting direction of the multiple material support components. After the two pairs of angle steels of the flipping component are flipped, the angle steels fall onto the fixed frame and correspond to one of the material support components.

[0013] As a further improvement of the above-mentioned solution of the present invention, the unloading conveying mechanism includes two unloading conveying lines, which are respectively set in one-to-one correspondence with the marking conveying lines of the two marking and corner cutting components. The marking conveying lines are used to convey the angle steel to the unloading conveying lines corresponding to them.

[0014] As a further improvement to the above-mentioned solution of the present invention, a second camera moving track is provided above the unloading conveyor line, and a product inspection camera for taking pictures and detecting the angle steel on the unloading conveyor line is installed on the second camera moving track.

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

[0016] This invention relates to a fully automatic multi-station angle steel production line, which is a processing center that includes functions such as angle steel unstacking, flipping, cutting, punching, and marking. The unstacking mechanism unstackings the angle steel stacks, and the flipping mechanism flips the angle steel that was placed in reverse to the correct orientation, which facilitates angle steel processing and effectively improves the processing efficiency of angle steel. The entire process requires no manual intervention, saves manpower, and has high reliability.

[0017] Due to the different gripping surfaces of interlocking angle steel, the magnetic attraction mechanism at the end of the gripping robot of this invention can meet the common gripping points of interlocking angle steel, saving costs, utilizing limited space, completing complex actions, and increasing the practicality of the equipment. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of a fully automated multi-station angle steel production line proposed in an embodiment of the present invention;

[0019] Figure 2 This is a schematic diagram of the magnetic attraction mechanism in a fully automated multi-station angle steel production line according to an embodiment of the present invention;

[0020] Figure 3 for Figure 2 Working principle diagram;

[0021] Figure 4 This is a schematic diagram of the structure of a flipping component in a fully automated multi-station angle steel production line according to an embodiment of the present invention;

[0022] Figure 5 This is a schematic diagram of the structure of a scrap bin in a fully automated multi-station angle steel production line according to an embodiment of the present invention;

[0023] Figure 6 This is a schematic diagram of the structure of the flipping component two in a fully automated multi-station angle steel production line according to an embodiment of the present invention;

[0024] Figure 7 This is a top view of a lifting and translation mechanism in a fully automated multi-station angle steel production line according to an embodiment of the present invention;

[0025] Figure 8 This is an isometric schematic diagram of a lifting and translation mechanism in a fully automated multi-station angle steel production line according to an embodiment of the present invention;

[0026] Figure 9 This is a cross-sectional view of a lifting and translation mechanism in a fully automated multi-station angle steel production line according to an embodiment of the present invention.

[0027] Reference numerals: 1. 3D camera; 2. Camera moving track one; 3. Truss; 4. Gripping robot; 5. Mounting frame one; 6. Dual-axis motor one; 7. Tilting shaft one; 8. Bracket one; 9. Cutting and drilling machine; 10. Feeding conveyor line; 11. Receiving conveyor line; 12. Waste bin; 13. Clearance line; 14. Mounting frame two; 15. Dual-axis motor two; 16. Tilting shaft two; 17. Bracket two; 18. Lifting and translating mechanism; 1801. Fixed frame; 1802. Lifting frame ; 1803, Translation frame; 1804, Lifting drive component; 1805, Translation drive component; 1806, Material support frame; 19, Marking conveyor line; 1901, Mounting frame; 1902, Conveyor shaft; 1903, Conveyor roller; 1904, Conveyor motor; 1905, Transmission component; 20, Marking machine; 21, Unloading conveyor line; 22, Finished product warehouse; 23, Defective product stacking platform; 24, Angle steel; 25, Magnetic suction component; 26, Tail-end corner cutting robot; 27, Head-end corner cutting robot. Detailed Implementation

[0028] 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. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0029] It should be noted that when a component is said to be "installed on" another component, it can be directly on the other component or it may be in a component that is centered on it. When a component is said to be "set on" another component, it can be directly set on the other component or it may also be in a component that is centered on it. When a component is said to be "fixed to" another component, it can be directly fixed to the other component or it may also be in a component that is centered on it.

[0030] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the specification of this invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "or / and" as used herein includes any and all combinations of one or more of the associated listed items.

[0031] Reference Figure 1 This embodiment proposes a fully automatic multi-station angle steel production line, including a feeding conveying mechanism, a destacking mechanism, a flipping mechanism I, a cutting and punching mechanism, a flipping mechanism II, a marking and corner cutting mechanism, a material unloading conveying mechanism, and a control unit.

[0032] The feeding conveyor mechanism (not shown in the figure) is used to transport stacks of angle steel formed by multiple forward-facing angle steels 24 and multiple reverse-facing angle steels 24. In this embodiment, the feeding conveyor mechanism adopts an existing conveying mechanism, which will not be described in detail here. The feeding conveyor mechanism is controlled by a control unit. It should be noted that the length specifications of the angle steels 24 transported by the feeding conveyor mechanism each time are not necessarily the same.

[0033] The unstacking mechanism includes a detection component and two gripping components. The detection component includes a 3D camera 1 and a camera movement track 2. The camera movement track 2 is positioned above the feeding conveyor and extends in the same direction as the feeding conveyor's transport direction. The 3D camera 1 is slidably mounted on the camera movement track and can move back and forth on the camera movement track 2. After moving to the optimal shooting point on the camera movement track 2, the 3D camera 1 takes a picture of the angle steel stack being transported by the feeding conveyor and sends the image back to the control unit. The control unit processes the image taken by the 3D camera 1 to obtain the position and length of the angle steel 24. The two gripping components are spaced apart along the transport direction of the feeding conveyor. Each gripping mechanism includes a truss 3 and two gripping manipulators 4. The truss 3 spans the feeding conveyor, and the two gripping manipulators 4 are mounted on the truss 3 and can move on the truss 3. The movement direction of the gripping manipulators 4 is perpendicular to the transport direction of the feeding conveyor. Figure 2 The end of the gripping robot 4 is connected to a magnetic attraction mechanism, which includes two sets of magnetic components. Each set has two opposing magnetic components 25. The bottom of the two magnetic components 25 on opposite sides and on opposite sides are both sloped. Through this structural arrangement, combined with… Figure 3 When the gripping robot 4 grips the upright angle steel 24, the top of the upright angle steel 24 is inserted at a right angle between the two magnetic suction pieces 25, and the two outer sides of the angle steel 24 are attracted to the inner inclined surfaces of the two magnetic suction pieces 25 respectively. When the gripping robot 4 grips the reversed angle steel 24, the two inner sides of the reversed angle steel 24 are attracted to the outer inclined surfaces of the two magnetic suction pieces 25 respectively, thus satisfying the gripping of angle steels that are interlocked. The control unit controls the gripping component corresponding to the current position and length of the angle steel 24 to work and grip the angle steel 24 according to the detection results. When the angle steel 24 is short, one gripping component can be used to grip it; when the angle steel 24 is long, two gripping components can be used simultaneously to grip the angle steel 24.

[0034] The flipping mechanism includes two flipping components, which are arranged opposite each other on both sides of the feed conveying mechanism. Figure 4Each flipping assembly includes a mounting frame 5, a dual-axis motor 6, and two flipping parts. The dual-axis motor 6 is mounted on the mounting frame 5. The two flipping parts of each flipping assembly correspond to the two gripping assemblies, and the two gripping manipulators 4 of each gripping assembly correspond to one flipping part of each flipping assembly. The two flipping parts are located on both sides of the dual-axis motor 6. Each flipping part includes a flipping shaft 7 and multiple brackets 8. The flipping shaft 7 is connected to the dual-axis motor 6, and the multiple brackets 8 are spaced apart along the axial direction of the flipping shaft 7 and are all connected to the flipping shaft 7. After the gripping manipulator 4 grips the angle steel 24, it places the angle steel 24 onto the multiple brackets 8 of the flipping part. Then, the dual-axis motor 6 starts to drive the flipping shaft 7 to rotate 180 degrees, thus flipping the angle steel 24. Since the angle steel 24 has different lengths, when the current angle steel 24 is shorter, it can be supported by one of the flipping parts; when the angle steel 24 is longer, it can be supported by two flipping parts at the same time.

[0035] The cutting and punching mechanism includes two cutting and punching assemblies, which are arranged opposite each other on both sides of the feeding conveyor mechanism and correspond to two flipping assemblies. Each gripping assembly has two gripping manipulators 4 corresponding to one of the two cutting and punching assemblies. Each cutting and punching assembly includes a cutting and punching machine 9 and feeding conveyors 10 and receiving conveyors 11 arranged on both sides of the cutting and punching machine 9. The feeding conveyor 10 is located on the side of the corresponding flipping assembly away from the feeding conveyor mechanism. When a pair of angle steels 24 are flipped by the flipping assembly, the flipped angle steels 24 fall onto the feeding conveyor 10. The receiving conveyor 11 is on the same straight line as the feeding conveyor 10. When the feeding conveyor 10 starts and moves the angle steels 24, the cutting and punching machine 9 cuts and punches the angle steels 24 when the first end of the angle steels 24 enters the cutting and punching machine 9. In this embodiment, the cutting and drilling machine 9 uses existing cutting and drilling equipment, while the feeding conveyor line 10 and the receiving conveyor line 11 both use existing roller conveyor lines, which will not be described in detail here. The rollers of the feeding conveyor line 10 and the receiving conveyor line 11 are contour-following wheels with an annular groove in the middle, and the annular groove has a V-shaped cross-section. In this embodiment, a sensor for detecting angle steel is installed at the feeding end of the receiving conveyor line 11. When the sensor detects the tail end of the angle steel passing by, it triggers the receiving conveyor line 11 to stop.

[0036] Because angle steel 24 generates waste during the cutting and punching process, in order to facilitate the separation of waste from the product, combined with... Figure 5In this embodiment, the cutting and drilling mechanism also includes a waste bin 12 and a clearance line 13. The clearance line 13 is located at the end of the receiving conveyor line 11 near the cutting and drilling machine 9 and can connect with the receiving conveyor line 11. The waste bin 12 is located below the clearance line 13, and the clearance line 13 can move above the waste bin 12. When the clearance line 13 connects with the receiving conveyor line 11, the clearance line 13 covers the top inlet of the waste bin 12. When the angle steel 24 enters the cutting and drilling machine 9, the clearance line 13 moves without connecting with the receiving conveyor line 11. During the movement of the angle steel 24, it can drive the cut waste material to fall into the waste bin 12.

[0037] The second flipping mechanism includes two second flipping components, which are arranged opposite to each other and are respectively located on one side of the receiving conveyor line 11 of the two cutting and punching components. Combined with... Figure 6 The second flipping assembly includes a mounting frame 14, two flipping components, and a dual-axis motor 15, which is mounted on the mounting frame 14. Each flipping component includes a flipping shaft 16 connected to the dual-axis motor 15, with multiple brackets 17 spaced axially along the flipping shaft 16. Initially, the ends of the multiple brackets 17 furthest from the flipping shaft 16 are located within the gap between adjacent rollers of the receiving conveyor line 11, avoiding interference with the conveying of the angle steel. When a sensor detects the passing of the angle steel tail end and triggers the stopping of the receiving conveyor line 11, the angle steel 24 is positioned precisely on the multiple brackets 17. After the dual-axis motor 15 drives the flipping shaft 16 to rotate 180 degrees, the multiple brackets 17 cause the angle steel 24 to flip.

[0038] The marking and corner cutting mechanism includes two marking and corner cutting components arranged side by side, a tail corner cutting robot 26 and a head corner cutting robot 27, with the two marking and corner cutting components positioned between the two flipping components.

[0039] Combination Figures 7-9The marking and corner-cutting assembly includes a lifting and translating mechanism 18, two marking conveyor lines 19, and a marking machine 20. The two marking conveyor lines 19 are arranged side-by-side with intervals, and the conveying direction of each marking conveyor line 19 is the same as that of the receiving conveyor line 11. The marking machine 20 is located at the feeding end of the marking conveyor line 19 closest to the second flipping mechanism. Each marking conveyor line 19 includes multiple roller conveyors arranged side-by-side with intervals. Each roller conveyor includes a mounting frame 1901, several conveyor shafts 1902, several conveyor rollers 1903, a conveyor motor 1904, and a transmission component 1905. The several conveyor shafts 1902 are arranged side-by-side with intervals, and both ends of the several conveyor shafts 1902 are rotatably mounted on the mounting frame 1901. The several conveyor rollers 1903 are respectively mounted on the several conveyor shafts 1902. The conveyor motor 1904 is connected to the several conveyor shafts 1902 through the transmission component 1905 and is used to drive the several conveyor shafts 1902 to rotate. Multiple marking machines 20 are respectively installed at the ends of multiple marking conveyor lines 19. The lifting and translating mechanism 18 includes a fixed frame 1801, a lifting frame 1802, a translating frame 1803, a lifting drive component 1804, and a translating drive component 1805. The mounting frames for multiple roller conveyors are all fixed to the fixed frame 1801. The lifting drive component 1804 is installed on the fixed frame 1801 and is used to drive the lifting frame 1802 to move vertically. The translating frame 1803 is slidably installed on the lifting frame 1802. Three material support components are arranged side-by-side on the translating frame 1803, with the distance between any two adjacent material support components being the same. Each material support component... Each component includes multiple material support frames 1806 spaced apart along the conveying direction of the marking conveyor line 19; the connecting line of three material support frames is perpendicular to the conveying direction of the marking conveyor line 19, and the two material support frames farther from the flipping mechanism are respectively arranged one-to-one with the two marking conveyor lines 19, and a material support frame 1806 is arranged between any two adjacent roller conveyor components of the marking conveyor line 19; the translation drive component 1805 is mounted on the lifting frame 1802 and is used to drive the translation frame 1803 to move on the lifting frame 1802 along the connecting line of the multiple material support frames. In this embodiment, both the lifting drive component 1803 and the translation drive component 1804 are servo hydraulic cylinders. Several synchronous lifters are arranged at intervals on the fixed frame 1801, and the synchronous lifters are all connected to the bottom of the lifting frame 1802. The arrangement of the synchronous lifters ensures that the steps of each point of the lifting frame 1802 are consistent during lifting. Tail-end corner-cutting robot 26 and head-end corner-cutting robot 27 are set between the two marking corner-cutting components. Tail-end corner-cutting robot 26 and head-end corner-cutting robot 27 are respectively set at the feeding end and the discharging end of the marking conveyor line 19, which is farthest from the second flipping mechanism.

[0040] The feeding conveyor mechanism includes two feeding conveyor lines 21, which are respectively set to correspond to the marking conveyor line 19, which is furthest from the flipping mechanism 2 among the two marking and corner-cutting components. After the angle steel 24 on the marking conveyor line 19 has been marked, the marking conveyor line 19 conveys the angle steel 24 to its corresponding feeding conveyor line 21. The operator then puts the finished angle steel 24 on the feeding conveyor line 21 into the finished product warehouse 22 for storage. In this embodiment, the feeding conveyor line 21 adopts the existing roller conveyor line, which will not be described in detail here.

[0041] With the above structural setup, after the second flipping mechanism flips the angle steel 24, the angle steel 24 falls onto the multiple material support frames 1806 of the material support component closest to the second flipping mechanism. Then, the lifting drive component 1804 drives the lifting frame 1802 to move upward, raising the angle steel 24. Then, the translation drive component 1805 drives the translation frame 1803 to move horizontally, moving the angle steel 24 above the marking conveyor line 19 closest to the second flipping mechanism. Then, the lifting drive component 1804 drives the lifting frame 1802 to move downward and reset, and the angle steel 24 falls onto the marking conveyor line 19 closest to the second flipping mechanism, where the marking machine 20 marks the angle steel. After marking is completed, the lifting drive component 1804 drives the lifting frame 1802 to move upward to lift the angle steel, and the translation drive component 1805 drives the translation conveyor line 1803 to move horizontally. The frame 1803 moves horizontally, moving the angle steel 24 above the marking conveyor line 19 furthest from the second flipping mechanism. The rear lifting drive 1804 drives the lifting frame 1802 to move down and reset, and the angle steel 24 falls onto the marking conveyor line 19 furthest from the second flipping mechanism. After the tail-end corner-cutting robot 26 cuts the tail end of the marked angle steel, the marking conveyor line 19 furthest from the second flipping mechanism conveys the angle steel forward. When the head of the angle steel 24 moves to the discharge end of the marking conveyor line 19 furthest from the second flipping mechanism, the marking conveyor line 19 furthest from the second flipping mechanism stops. The head-cutting robot 27 cuts the head of the angle steel 24. After the head-cutting is completed, the marking conveyor line 19 furthest from the second flipping mechanism conveys the angle steel to the corresponding unloading conveyor line 21.

[0042] In this embodiment, to detect whether there are any unfinished or substandard products in the processed angle steel 24, a camera moving track 2 is provided above each unloading conveyor line 21. A product detection camera is installed on the camera moving track 2. When the product detection camera moves from one end of the camera moving track 2 to the other end, it takes a picture of the angle steel 24 on the unloading conveyor line 21 to detect whether the angle steel 24 is qualified. In this embodiment, a two-dimensional camera purchased from the market is used for the product detection camera.

[0043] It should be noted that in this embodiment, a defective product stacking platform 23 is also provided on one side of the feeding conveying mechanism. During unstacking, if the 3D camera 1 detects that the angle steel 24 has a length that does not meet the standard or that the angle steel 24 is rusted, the gripping robot 4 grips the angle steel 24 and stores it on the defective product stacking platform 23.

[0044] In this embodiment, the control unit controls the operation of the feeding conveyor mechanism, the gripping robot 4, the dual-axis motor 6, the feeding conveyor line 10, the cutting and punching machine 9, the receiving conveyor line 11, the avoidance line 13, the dual-axis motor 15, the lifting drive 1804, the translation drive 1805, the marking machine 20, the tail-end corner-cutting robot 26, the head-end corner-cutting robot 27, the conveying motor 1904, and the unloading conveyor line 21.

[0045] The working principle of this embodiment will be explained next:

[0046] The angle steel stack is transferred to the feeding conveyor mechanism. The control unit controls the feeding conveyor mechanism to transport the angle steel stack to the designated position. Then, the control unit controls the 3D camera 1 to move to the designated position to take pictures of the angle steel stack. The control unit analyzes the pictures taken by the 3D camera 1 to obtain the length of the angle steel 24, and controls the corresponding gripping robot 4 to move and grip the angle steel 24 according to the length of the angle steel 24.

[0047] If the gripping robot 4 grips the angle steel 24 that is placed in the opposite direction, the gripping robot 4 will transfer the angle steel 24 to the bracket 8 of the corresponding flipping component. The dual-axis motor 6 will drive the flipping shaft 7 to rotate 180 degrees, causing the angle steel 24 to flip and fall directly onto the corresponding feeding conveyor line 10. At this time, the angle steel 24 will be placed in the correct direction. If the gripping robot 4 grips the angle steel 24 that is placed in the correct direction, the gripping robot 4 will directly transfer the angle steel 24 to the corresponding feeding conveyor line 10.

[0048] The feeding conveyor 10 conveys the angle steel 24 to the cutting and punching machine 9. After the cutting and punching machine 9 completes the corner cutting and punching of the angle steel 24, the angle steel 24 directly enters the receiving conveyor 11. The receiving conveyor 11 conveys the angle steel 24 forward until the angle steel is stopped and positioned by the blocking part. At this time, the angle steel 24 is aligned with the flipping mechanism 2, and the angle steel 24 completely falls into the multiple brackets 17 of the flipping mechanism 2.

[0049] Then, the dual-axis motor 15 drives the tilting shaft 16 to rotate 180 degrees, causing the angle steel 24 to tilt and fall directly onto the multiple material support frames 1806 closest to the tilting mechanism 2. Then, the lifting drive 1804 drives the lifting frame 1802 to move upwards, causing the angle steel 24 to rise. Then, the translation drive 1805 drives the translation frame 1803 to move horizontally, moving the angle steel 24 above the marking conveyor line 19 closest to the tilting mechanism 2. Then, the lifting drive 1804 drives the lifting frame 1802 to move downwards and reset, causing the angle steel 24 to fall onto the marking conveyor line 19 closest to the tilting mechanism 2, where the marking machine 20 marks the angle steel. After marking is complete, the lifting drive 1804 drives the lifting frame 1802 to move upwards to lift the angle steel, and the translation drive 1805 drives the translation frame 1803 to move horizontally, moving the angle steel 24 above the marking conveyor line 19 furthest from the tilting mechanism 2. Then, the lifting drive 1804 drives the lifting frame 1802 to move upwards to lift the angle steel, and the translation drive 1805 drives the translation frame 1803 to move horizontally, moving the angle steel 24 above the marking conveyor line 19 furthest from the tilting mechanism 2. 04 drives the lifting frame 1802 to move down and reset, and the angle steel 24 falls onto the marking conveyor line 19 furthest from the flipping mechanism 2. After the tail-end cutting robot 26 cuts the tail end of the marked angle steel, the marking conveyor line 19 furthest from the flipping mechanism 2 transports the angle steel forward. When the head of the angle steel 24 moves to the discharge end of the marking conveyor line 19 furthest from the flipping mechanism 2, the marking conveyor line 19 furthest from the flipping mechanism 2 stops. The head-end cutting robot 27 cuts the head end of the angle steel. After the head-end cutting is completed, the marking conveyor line 19 furthest from the flipping mechanism 2 transports the angle steel to the corresponding unloading conveyor line 21. After the product inspection camera detects that the angle steel 24 on the unloading conveyor line 21 is processed and qualified, the angle steel 24 is manually stored in the finished product warehouse 22. If the product inspection camera detects that the angle steel 24 on the unloading conveyor line 21 has omissions or is not processed, the angle steel 24 is manually transferred to the unqualified storage area.

[0050] This fully automated multi-station angle steel production line is a processing center that includes functions such as angle steel unstacking, flipping, cutting, drilling, corner cutting, marking, and inspection. It adopts a "one-to-two" configuration to fully utilize equipment downtime. The entire line has a symmetrical structure, with two processing lines operating independently, resulting in high efficiency and a tight cycle time. For cases where the lengths of each stack of angle steel are varying, a 3D camera is moved to the optimal shooting point to take pictures. The control unit obtains angle steel information from the captured images and then controls the gripping robot to grasp the angle steel. For angle steels with interlocking front and back sides, due to the different gripping surfaces, the magnetic suction mechanism at the end of the gripping robot is designed... The design can grasp the common points of interlocking angle steel, saving costs and utilizing limited space to complete complex actions, thus increasing the practicality of the equipment. Then, the flipping mechanism flips the reverse angle steel to the forward position for processing. However, the angle steel is of different lengths and the processing surface is not the same, which makes inspection difficult. To address this, a product inspection camera scans and inspects the processed angle steel. The control unit compares the acquired image with the model to check whether the hole positions and markings on the angle steel are qualified. After inspection, the angle steel is stacked. The whole process is done without manual intervention, saving manpower and ensuring high reliability.

[0051] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0052] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. A fully automatic multi-functional angle steel production line, characterized in that, It includes a feeding conveying mechanism, a destacking mechanism, a flipping mechanism I, a cutting and punching mechanism, a flipping mechanism II, a marking and corner-cutting mechanism, a discharge conveying mechanism, and a control unit. The feeding conveying mechanism is used to convey stacks of angle steel formed by multiple upright and reverse-positioned angle steels to the destacking mechanism. The destacking mechanism is used to transfer the upright and reverse-positioned angle steels to the cutting and punching mechanism and the flipping mechanism I, respectively. The flipping mechanism I is used to flip the angle steels and then transfer them to the cutting and punching mechanism. The cutting and punching mechanism is used to cut and punch the angle steels and then transfer the cut and punched angle steels to the flipping mechanism II. The flipping mechanism II is used to flip the angle steels and then transfer them to the discharge conveying mechanism. The marking and corner-cutting mechanism is used to mark and cut the angle steels on the discharge conveying mechanism, and the discharge conveying mechanism then transports the marked and cut angle steels out. The control unit is used to control the operation of the feeding conveying mechanism, the destacking mechanism, the flipping mechanism I, the cutting and punching mechanism, the flipping mechanism II, the marking and corner-cutting mechanism, and the discharge conveying mechanism. The unstacking mechanism includes a detection component and several gripping components. The detection component includes a 3D camera and a camera moving track. The camera moving track is positioned above the feeding conveyor and extends in the same direction as the feeding conveyor. The 3D camera is slidably mounted on the camera moving track and can move on the camera moving track. Several gripping components are arranged sequentially at intervals along the feeding conveyor. Each gripping component includes a truss and two gripping manipulators. The truss spans the feeding conveyor, and the two gripping manipulators are mounted on the truss and can move on the truss. The ends of the gripping manipulators are connected to a magnetic suction mechanism. The magnetic suction mechanism includes several sets of magnetic suction components. Each set has two magnetic suction components arranged opposite each other. The bottom of the opposite side and the bottom of the side away from each other of the two magnetic suction components both have inclined surfaces. The flipping mechanism 1 includes two flipping components 1, which are arranged opposite each other on both sides of the feeding conveying mechanism. Each flipping component 1 includes a mounting frame 1, a dual-axis motor 1, and two flipping parts 1. The dual-axis motor 1 is mounted on the mounting frame 1. The two flipping parts 1 are respectively arranged on both sides of the dual-axis motor 1. Each flipping part 1 includes a flipping shaft 1 and multiple brackets 1. The flipping shaft 1 is connected to the dual-axis motor 1. The multiple brackets 1 are spaced apart along the axial direction of the flipping shaft 1 and are all connected to the flipping shaft 1.

2. The fully automatic multi-functional angle steel production line according to claim 1, characterized in that, The cutting and punching mechanism includes two cutting and punching components, which are respectively set with two flipping components. Each cutting and punching component includes a cutting and punching machine and a feeding conveyor and a receiving conveyor set on both sides of the cutting and punching machine. The feeding conveyor is set on the side of the corresponding flipping component away from the feeding conveyor. When a pair of angle steels is flipped by the flipping component, the flipped angle steels fall onto the feeding conveyor. The feeding conveyor is used to transport the angle steels to the cutting and punching machine, and the receiving conveyor is used to transport the angle steels that have passed through the cutting and punching machine forward.

3. The fully automated multi-functional angle steel production line according to claim 2, characterized in that, The flipping mechanism 2 includes two flipping components 2, which are respectively arranged in correspondence with two cutting and punching components. Each flipping component 2 includes a mounting frame 2, a dual-axis motor 2, and two flipping parts 2. The mounting frame 2 is arranged on one side of the corresponding receiving conveyor line, and the dual-axis motor 2 is mounted on the mounting frame 2. The two flipping parts 2 are respectively arranged on both sides of the dual-axis motor 2. Each flipping part 2 includes a flipping shaft 2 and multiple brackets 2. The flipping shaft 2 is connected to the dual-axis motor 2, and the multiple brackets 2 are spaced apart along the axial direction of the flipping shaft 2 and are all connected to the flipping shaft 2. In the initial state, the end of the multiple brackets 2 away from the flipping shaft 2 is located above the corresponding receiving conveyor line.

4. The fully automatic multi-functional angle steel production line according to claim 3, characterized in that, The marking and corner-cutting mechanism includes two marking and corner-cutting components, a tail-end corner-cutting robot, and a head-end corner-cutting robot. The two marking and corner-cutting components are respectively set one-to-one with the two flipping components. Each marking and corner-cutting component includes a lifting and translating mechanism, a marking conveyor line, and a marking machine. The flipping component flips the angle steel and transfers it to the lifting and translating mechanism, which is used to transfer the angle steel to the marking conveyor line. The marking machine is used to mark the angle steel on the marking conveyor line. The tail-end corner-cutting robot and the head-end corner-cutting robot are set at both ends of the marking conveyor line and respectively perform corner-cutting processing on the tail end and head end of the angle steel on the marking conveyor line.

5. The fully automatic multi-functional angle steel production line according to claim 4, characterized in that, The marking conveyor line includes multiple roller conveyor components arranged side by side at intervals; each roller conveyor component includes a mounting frame, several conveyor shafts, several conveyor rollers, a conveyor motor, and a transmission component. The several conveyor shafts are arranged side by side at intervals, and both ends of the several conveyor shafts are rotatably mounted on the mounting frame. The several conveyor rollers are respectively mounted on the several conveyor shafts. The conveyor motor is connected to the several conveyor shafts through the transmission component and is used to drive the several conveyor shafts to rotate.

6. The fully automatic multi-functional angle steel production line according to claim 5, characterized in that, The lifting and translating mechanism includes a fixed frame, a lifting frame, a translating frame, a lifting drive component, and a translating drive component. Multiple roller conveyor mounting frames are fixed to the fixed frame. The lifting drive component is mounted on the fixed frame and drives the lifting frame to move vertically. The translating frame is slidably mounted on the lifting frame. Multiple material support components are arranged side-by-side on the translating frame, with the distance between any two adjacent material support components being the same. Each material support component includes multiple material support frames spaced apart along the conveying direction of the marking conveyor line. The line connecting the multiple material support components is perpendicular to the conveying direction of the marking conveyor line, and one of the material support components corresponds to the marking conveyor line. A material support frame is provided between any two adjacent roller conveyor components of the marking conveyor line. The translating drive component is mounted on the lifting frame and drives the translating frame to move along the line connecting the multiple material support components on the lifting frame. After the two pairs of angle steels in the flipping assembly are flipped, the angle steels fall onto the fixed frame and correspond to one of the material support components.

7. The fully automatic multi-functional angle steel production line according to claim 4, characterized in that, The material feeding and conveying mechanism includes two material feeding and conveying lines, which are respectively set up one-to-one with the marking and corner cutting components. The marking and conveying lines are used to convey the angle steel to the corresponding material feeding and conveying lines.

8. The fully automatic multi-functional angle steel production line according to claim 7, characterized in that, A second camera moving track is installed above the unloading conveyor line, and a product inspection camera is installed on the second camera moving track to take pictures and inspect the angle steel on the unloading conveyor line.

Images