Automatic angle steel feeding system

Abstract

The application discloses an automatic angle steel feeding system and relates to the field of angle steel processing equipment.The automatic angle steel feeding system comprises a horizontal ground rail, a lifting mechanism, a truss, a mechanical arm device, a feeding system assembly, a clamping device and an electrical control system, the feeding system assembly is arranged at the side of an angle steel production line, the truss is arranged above the angle steel production line, the mechanical arm device is arranged on the truss, the clamping device is arranged on the angle steel production line, the horizontal ground rail is further arranged at the side of the angle steel production line, the lifting mechanism is slidably connected and arranged on the horizontal ground rail through a ground rail guide rail, the feeding system assembly comprises a material stacking device, a material beating device and a feeding rack device, and the power devices of the lifting mechanism, the mechanical arm device, the feeding system assembly and the clamping device are electrically connected with the electrical control system through a wire harness.

Description

Technical Field

[0001] This invention relates to the field of angle steel processing equipment, specifically an automatic angle steel feeding system. Background Technology

[0002] Angle steel is commonly used in the manufacture of angle steel towers. The process typically involves a series of processing operations, including cutting, corner trimming, hole drilling, and printing on the raw angle steel. The raw angle steel profiles are often manually hoisted onto a material handling frame, requiring at least two people to separate individual pieces, arrange them according to the V-shaped opening, and straighten them according to a specific pattern. They are then transported via a chain conveyor to a transfer system, where they are flipped onto a CNC angle steel production line for further processing. Currently, this process increases labor time and costs, increases labor intensity, reduces safety, and lowers material handling efficiency, resulting in lower company profits.

[0003] Currently, existing angle steel feeding systems mainly consist of a conveyor system and a transfer system. Typically, angle steel materials are manually hoisted onto the conveyor frame. At least two people work together to sort and align the individual angle steel pieces before conveying them through the conveyor to the V-shaped opening at the end. The transfer system then flips the material and transports it to the integrated angle steel production line. Many manufacturers currently disassemble the conveyor system, manually placing the materials at the V-shaped opening at the end of the conveyor system before the transfer system flips them. This method does not allow for bundled feeding. This process requires manual operation, with at least two workers needed to separate and align the individual angle steel pieces on the conveyor system. This is labor-intensive, inefficient, unsafe, and time-consuming, with low automation. Manual feeding also underutilizes the conveyor system. After the transfer mechanism flips the angle steel onto the production line, manual assistance is needed to clamp the steel for automatic processing, resulting in low automation and slowing down the overall production line's cycle time, thus impacting company profits. Summary of the Invention

[0004] To address the existing problems, this invention provides an automatic angle steel feeding system. The PLC controls the entire feeding system to automatically complete the feeding process, which is compatible with both bundled and loose materials. This feeding system can drive two angle steel production lines with two workstations to feed materials. The gantry robot adopts a ground rail gantry structure, which can maximize the avoidance of the material discharge rack space and facilitate the feeding of whole bundles of angle steel materials. The specially designed M-type electromagnet can accurately attract angle steel regardless of whether the V-shaped opening is facing up or down. It determines whether flipping is necessary based on the actual situation before placing the angle steel onto the flipping system. A servo drive system controls multiple robotic arms to flip the angle steel after it has been picked up, ensuring synchronized flipping. The mechanical lifting action uses a two-axis synchronous servo to control the overall lifting of the entire truss, ensuring accuracy and synchronization. After the flipping system places the angle steel onto the angle steel production line, the automatic clamping device uses the lifting and movement control of the electromagnet to attract the angle steel and feed it into the clamp. Electrical control confirms whether the clamp has clamped the angle steel material. Once clamped, it is automatically conveyed for angle steel production processing, eliminating manual operation.

[0005] The technical solution adopted by this invention to solve its technical problem is: As shown in the attached figures, the present invention provides an automatic angle steel feeding system, comprising a horizontal ground rail, a lifting mechanism, a truss, a robotic arm device, a feeding system assembly, a clamping device, and an electrical control system. The feeding system assembly is located on the side of the angle steel production line. A truss is installed above the angle steel production line, and a robotic arm device is installed on the truss. A clamping device is installed on the angle steel production line. A horizontal ground rail is also connected to the side of the angle steel production line. The lifting mechanism is slidably connected to the horizontal ground rail via a ground rail guide. The feeding system assembly includes a stacking device, a patting device, and a feeding rack device. The power units of the lifting mechanism, the robotic arm device, the feeding system assembly, and the clamping device are all electrically connected to the electrical control system via wiring harnesses.

[0006] The aforementioned automatic angle steel feeding system includes a horizontal ground rail comprising a ground rail guide, a ground rail bracket, and a ground rail rack. The horizontal ground rail is fixedly installed via the ground rail bracket. The ground rail guide and ground rail rack are installed above the ground rail bracket, and the ground rail rack is installed between the two ground rail guides. A lifting mechanism is slidably installed via the ground rail guides. The lifting mechanism includes a lifting main support, a lifting motor, and a lifting plate. The lower end of the lifting main support is provided with a slide rail that cooperates with the ground rail guide. The side of the lifting main support is provided with a lifting guide. The lifting plate is slidably connected via the lifting guide and a slider. A lifting screw is installed at the center of the lifting plate via a threaded connection. One end of the lifting screw is installed in a screw bearing seat via a screw bearing, and the screw bearing seat is fixedly installed on the lifting main support. The other end of the lifting screw is connected to the output shaft of the lifting motor. The lifting motor is fixedly installed on the lifting main support. A drag chain is also installed on the lifting main support.

[0007] The aforementioned automatic angle steel feeding system includes a robotic arm device comprising a C-shaped bracket, a robotic arm electromagnet, a rotating counterweight mounting base, and a robotic arm motor. Two sets of C-shaped brackets are provided, each with a robotic arm guide rail. A robotic arm bearing seat is slidably mounted on the guide rails via a connection to a slider. A counterweight shaft is mounted on the bearing, with a rotating counterweight mounting base in the middle. A robotic arm electromagnet is mounted at one end of the rotating counterweight mounting base. One end of the counterweight shaft is connected to the output shaft of the robotic arm motor, which is fixedly mounted on the bearing seat. A gripper for receiving and grasping the angle steel is provided at the upper end of the C-shaped bracket.

[0008] In the aforementioned automatic angle steel feeding system, the part of the robotic arm electromagnet that contacts the angle steel is designed with a special M-shaped structure, which facilitates the gripping of angle steel with the V-shaped opening facing down and the V-shaped opening facing up.

[0009] The aforementioned automatic angle steel feeding system includes a clamping device comprising a clamping support, a mounting plate, a clamping electromagnet, and a clamping motor. The clamping device is mounted on the angle steel production line via the mounting plate. A transverse clamping guide rail is provided on the mounting plate, and a matching slider on the clamping support enables lateral displacement of the clamping device. A clamping motor is mounted on the clamping support, and a clamping gear is mounted on the output shaft of the clamping motor. A meshing rack meshes with the clamping gear and is fixedly connected to the clamping electromagnet. The meshing rack slides on the clamping support via the guide rail and slider connection. The clamping motor is driven by the engagement of the clamping gear and the clamping rack, which in turn drives the clamping rack and clamping electromagnet to move vertically. An angle steel placement opening is provided above the clamping electromagnet.

[0010] The aforementioned automatic angle steel feeding system comprises a feeding rack device, a stacking device, and a patting device. The feeding rack device includes a feeding rack body with a sprocket drive mechanism connected to a chain. One end of the chain corresponds to the angle steel production line, and the other end has an angle steel placement area on the feeding rack body. V-shaped seats for placing angle steel are evenly spaced along the chain. Multiple sets of sprockets are provided, each set connected synchronously via a rotating shaft. The shaft of the sprocket is connected to the output shaft of a feeding motor, which is mounted on the feeding rack body. A feeding guide rail is provided on the feeding rack body. The stacking device has a slider that cooperates with the feeding guide rail. The stacking device is slidably connected to the feeding rack body via the connection between the feeding guide rail and the slider. The stacking device also includes a stacking support, a stacking cylinder, and a V-shaped stacking seat. The slider that cooperates with the feeding guide rail is located on the back of the stacking support. On the other side of the base, a material-stacking guide rail is provided. A slider that cooperates with the material-stacking guide rail is fixedly connected to the V-shaped material-stacking base. The V-shaped material-stacking base is connected to the output shaft of the material-stacking cylinder. The material-stacking cylinder is mounted on the material-stacking support. A material-stacking motor is also mounted on the material-stacking support. A gear is connected to the output shaft of the material-stacking motor. A material-stacking rack is also provided on the feeding frame. The material-stacking rack meshes with the gear connected to the output shaft of the material-stacking motor to drive the material-stacking motor. Through the cooperation between the material-stacking gear and the material-stacking rack, the material-stacking device can be displaced on the feeding frame. The material-stacking device includes a material-stacking cylinder, a material-stacking guide rail, and a material-stacking mounting base. The material-stacking device is mounted on the feeding frame device through the material-stacking mounting base. The material-stacking cylinder is mounted on the material-stacking mounting base. The output shaft of the material-stacking cylinder is connected to a material-stacking plate. A slider is provided on the material-stacking plate. A material-stacking guide rail is provided on the corresponding material-stacking mounting base. The action surface of the material-stacking plate corresponds to the angle steel placement area of ​​the feeding frame device.

[0011] In the aforementioned automatic angle steel feeding system, two sets of horizontal ground rails are provided in conjunction with the lifting mechanism, which are respectively set at both ends of the feeding system assembly. The lifting plates are arranged opposite each other and are used to hold angle steel materials.

[0012] The beneficial effects of this invention are: 1. The angle steel feeding system of this invention is fully automatically controlled by an electrical control system; it has a high degree of automation, requiring no manual operation, reducing labor intensity and costs; the production process is stable, improving product consistency and increasing the company's economic benefits; it has a large processing range, with a maximum processing length of 12000mm; it is suitable for automatic feeding of 40-56 bundles and loose angle steel; a specially designed M-type electromagnet can pick up angle steel from both positive and negative V-shaped openings, reducing the requirements for angle steel placement and improving work efficiency; the gantry robot device adopts a ground rail gantry structure, which can maximize the avoidance of the material discharge rack space and facilitate whole-bundle feeding operations. The lifting action adopts a two-axis synchronous servo to control the overall lifting of the entire gantry, ensuring accuracy; a material-tapping device is provided to neatly arrange bundled and partially bundled materials; a clamping device is provided to feed the angle steel into the clamp for clamping and processing; the feeding rack mechanism is equipped with a material stacking and power transmission device to facilitate the transportation of loose materials to the material channel V-shaped opening. Multiple sets of robot servo drive systems are synchronously controlled; it can realize automatic feeding of angle steel in two stations. It makes better use of resources, automates tedious tasks, improves accuracy and worker motivation; it replaces manual operation in environments harmful or dangerous to human health, improving the working environment for workers. Parametric programming makes it simple to operate and quick for workers to learn. Attached Figure Description

[0013] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0014] Figure 1 This is an overall schematic diagram of the device of the present invention; Figure 2 This is a schematic diagram of the horizontal ground track of the device of the present invention; Figure 3 This is a schematic diagram of the lifting mechanism of the device of the present invention; Figure 4 This is a schematic diagram of the truss structure of the device of the present invention; Figure 5 This is a schematic diagram of the structure of the robotic arm device of the present invention; Figure 6 This is a perspective view of the clamping device of the present invention; Figure 7 This is a second-view perspective perspective view of the clamping device of the present invention; Figure 8 This is a schematic diagram of the material stacking device of the present invention; Figure 9 This is a schematic diagram of the overall assembly of the loading system of the equipment of the present invention; Figure 10 This is a second-view schematic diagram of the assembly of the loading system of the equipment of the present invention; Figure 11 This is a front view of the assembly of the loading system of the equipment of the present invention; Figure 12 for Figure 10 A magnified view of a portion of the image.

[0015] 1. Horizontal ground rail; 11. Ground rail guide rail; 12. Ground rail bracket; 13. Ground rail rack; 2. Lifting mechanism; 21. Lifting motor; 22. Lifting guide rail; 23. Lifting screw; 24. Screw bearing housing; 25. Cable chain; 26. Lifting main support frame; 27. Lifting plate; 3. Truss; 4. Robotic arm device; 41. Robotic arm bearing; 42. Robotic arm electromagnet; 43. Robotic arm bearing housing; 44. Robotic arm motor; 45. Robotic arm. 46. ​​Guide rail, C-type bracket, 47. Rotary counterweight mounting base, 5. Feeding rack device, 6. Feeding device, 7. Clamping device, 71. Clamping electromagnet, 72. Clamping rack, 73. Clamping motor, 74. Clamping guide rail, 75. Clamping support, 8. Stacking device, 81. Stacking support, 82. Stacking motor, 83. Stacking cylinder, 84. V-type stacking seat, 85. Stacking guide rail, 9. Feeding system assembly, 10. Angle steel production line. Detailed Implementation

[0016] To enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0017]

Example 1

[0018] Furthermore, the horizontal ground rail 1 includes a ground rail guide 11, a ground rail bracket 12, and a ground rail rack 13. The horizontal ground rail 1 is fixedly installed via the ground rail bracket 12. The ground rail guide 11 and the ground rail rack 13 are installed above the ground rail bracket 12. The ground rail rack 13 is installed between the two ground rail guides 11. A lifting mechanism 2 is slidably installed via the ground rail guides 11. The lifting mechanism 2 includes a lifting main support 26, a lifting motor 21, and a lifting plate 27. The lower end of the lifting main support 26 is provided with a slide rail that cooperates with the ground rail guide 11. A lifting guide rail 22 is provided on the side of the 6th section. A lifting plate 27 is slidably connected to the slider via the lifting guide rail 22. A lifting screw 23 is installed at the center of the lifting plate 27 via a threaded connection. One end of the lifting screw 23 is installed in a screw bearing seat 24 via a screw bearing. The screw bearing seat 24 is fixedly installed on the lifting main support 26. The other end of the lifting screw 23 is connected to the output shaft of the lifting motor 21. The lifting motor 21 is fixedly installed on the lifting main support 26. A drag chain 25 is also installed on the lifting main support 26.

[0019] Furthermore, the robotic arm device 4 is provided with 5 sets. The robotic arm device 4 includes a C-shaped bracket 46, a robotic arm electromagnet 42, a rotating counterweight mounting base 47, and a robotic arm motor 44. There are two sets of C-shaped brackets 46. The two sets of C-shaped brackets 46 are respectively provided with robotic arm guide rails 45. The robotic arm bearing seat 43 is slidably installed through the connection between the robotic arm guide rail 45 and the slider. The counterweight shaft is installed through the robotic arm bearing 41. The rotating counterweight mounting base 47 is provided in the middle of the counterweight shaft. The robotic arm electromagnet 42 is installed at one end of the rotating counterweight mounting base 47. One end of the counterweight shaft is connected to the output shaft of the robotic arm motor 44. The robotic arm motor 44 is fixedly installed on the robotic arm bearing seat 43. The upper end of the C-shaped bracket 46 is provided with a gripper for receiving and grasping angle steel.

[0020] Furthermore, the part of the robotic arm electromagnet 42 that contacts the angle steel is designed with a special M-shaped structure, which makes it easy to grasp angle steel with the V-shaped opening facing down and the V-shaped opening facing up.

[0021] Furthermore, through the sliding cooperation between the robotic arm guide rail 45 and the slider, the robotic arm electromagnet 42 can float up and down accordingly, thereby ensuring effective adsorption of bent and deformed angle steel materials.

[0022] Furthermore, the clamping device 7 includes a clamping support 75, a mounting plate, a clamping electromagnet 71, and a clamping motor 73. The clamping device 7 is mounted on the angle steel production line 10 via the mounting plate. The mounting plate is provided with a transverse clamping guide rail 74. The clamping support 75 is equipped with a matching slider to achieve the transverse displacement of the clamping device 7. The clamping support 75 is equipped with a clamping motor 73. The output shaft of the clamping motor 73 is equipped with a clamping gear. A meshing rack is meshed with the clamping gear. The meshing rack is fixedly connected to the clamping electromagnet 71. The meshing rack is slidably mounted on the clamping support 75 through the connection between the guide rail and the slider. Through the cooperation of the clamping gear and the clamping rack 72, the clamping motor 73 is driven, which can drive the clamping rack 72 and the clamping electromagnet 71 to move vertically. An angle steel placement opening is provided above the clamping electromagnet 71.

[0023] Furthermore, the feeding system assembly 9 includes a feeding rack device 5, a stacking device 8, and a patting device 6. The feeding rack device 5 includes a feeding rack body 51, on which a sprocket 54 transmission device is installed, connecting a chain 55. One end of the chain 55 corresponds to the angle steel production line 10, and the other end is provided with an angle steel placement area 52 on the feeding rack body 51. V-shaped seats 53 for placing angle steel are evenly spaced on the chain 55. The feeding rack device 5 has 3 sets, and each set of sprockets 54 is synchronously linked through a rotating shaft. The output shaft of the feeding motor is connected to the rotating shaft of the sprocket 54. The feeding motor is mounted on the feeding frame body 51 of the feeding frame device 5. The feeding frame body 51 is provided with a feeding guide rail 57. The stacking device 8 is provided with a slider that cooperates with the feeding guide rail 57. The stacking device 8 is slidably connected to the feeding frame body 51 through the connection between the feeding guide rail 57 and the slider. The stacking device 8 also includes a stacking support 81, a stacking cylinder 83, and a V-shaped stacking seat 84. The slider that cooperates with the feeding guide rail 57 is provided on the back of the stacking support 81. On the other side of 1, a material-stacking guide rail 85 is provided. A slider that cooperates with the material-stacking guide rail 85 is fixedly connected to a V-shaped material-stacking base 84. The lower part of the V-shaped material-stacking base 84 is connected to the output shaft of the material-stacking cylinder 83. The material-stacking cylinder 83 is mounted on a material-stacking support 81. A material-stacking motor 82 is also mounted on the material-stacking support 81. A gear is connected to the output shaft of the material-stacking motor 82. A material-stacking rack 56 is also provided on the feeding frame 51. The material-stacking rack 56 meshes with the gear connected to the output shaft of the material-stacking motor 82 to drive the material-stacking motor 82. The material stacking gear and the feeding rack 56 cooperate to realize the displacement of the material stacking device 8 on the feeding frame 51. The material tapping device 6 includes a material tapping cylinder 61, a material tapping guide rail and a material tapping mounting base. The material tapping device 6 is installed on the feeding frame device 5 through the material tapping mounting base. The material tapping cylinder 61 is installed on the material tapping mounting base. The output shaft of the material tapping cylinder 61 is connected to a material tapping plate 62. The material tapping plate 62 is provided with a slider. The material tapping guide rail is provided on the corresponding material tapping mounting base. The action surface of the material tapping plate 62 corresponds to the angle steel placement area 52 of the feeding frame device 5.

[0024] Furthermore, the horizontal ground rail 1 is provided in two sets in conjunction with the lifting mechanism 2, which are respectively set at both ends of the feeding system assembly 9, and the lifting plates 27 are arranged opposite each other for holding angle steel materials.

[0025] Furthermore, the truss 3 connecting to the robotic arm device 4 adopts a ground-rail gantry structure.

[0026] The equipment is fully automated through an electrical control system, and its entire mechanical structure utilizes a servo bus control system. It boasts a high degree of automation, requiring no manual operation, thus reducing labor intensity and costs. The stable production process improves product consistency and enhances the company's economic benefits. It has a wide processing range, with a maximum processing length of 12000mm. It is suitable for automatic feeding of 40-56 bundles of angle steel and loose materials. A specially designed M-type electromagnet can pick up angle steel with forward and reverse V-shaped openings, minimizing placement requirements and improving work efficiency. The gantry robot device adopts a ground-rail gantry structure, maximizing space avoidance on the unloading rack and facilitating bundled feeding operations. The lifting action uses a two-axis synchronous servo to control the overall lifting of the gantry, ensuring accuracy. Multiple sets of robot servo drive systems are synchronously controlled, enabling automatic feeding of angle steel at dual workstations. It better utilizes resources, automates tedious tasks, improves accuracy and worker motivation, and replaces manual operation in environments harmful to human health, improving the working environment for workers. Parametric programming makes operation simple and quick for operators to learn.

[0027] The system equipment of this invention is mainly used for automatic feeding of four types of angle steel: 40, 45, 50, and 56. The maximum length of angle steel that can be used is 12,000 mm, and the cycle time is 60 seconds.

[0028] During use, the equipment of this invention involves manually placing bundles or loose angle steel materials onto the angle steel placement area 52 of the loading rack device 5. The material-tapping device 6 then aligns and straightens the bundles or loose materials. Once ready, the electrical control system is operated to select angle steel parameters from the material library. The first angle steel is manually located, and automatic start is initiated. The robotic arm device 4 picks up the angle steel, and the PLC control system determines whether to flip it. Figure 11 As shown, for ease of explanation, the V-shaped seats 53 on the feeding rack device 5 are numbered 1-5. When the angle steel V-shaped opening faces upward, it runs on the horizontal ground rail 1 via the lifting mechanism 2, and the system automatically places the angle steel at the V-shaped seat 53. If the angle steel V-shaped opening faces downward, the robotic arm device 4 controls the gripper to rise to a certain position, and the robotic arm electromagnet 42 picks up the angle steel and flips it so that the V-shaped opening faces upward. Then, it moves to a suitable position via the lifting mechanism 2 on the horizontal ground rail 1, and the robotic arm device 4 places the angle steel in the V-shaped seat 53 of the feeding rack device 5. The transfer system flips the angle steel onto the angle steel production line 10.

[0029] When the angle steel material is in single, loose pieces, the individual angle steel is placed manually on the angle steel placement area 52 of the feeding rack device 5, with one side resting against the mechanical limit. Then, the angle steel in the angle steel placement area 52 is placed on the No. 1 V-shaped seat 53 by the stacking device 8. The operation is repeated until all the No. 1, No. 2, No. 3, No. 4, and No. 5 V-shaped seats in the material channel are filled with angle steel. The feeding motor of the feeding rack device 5 is running, and through power transmission, the material transfer system flips the angle steel material onto the angle steel production line 10 in the order of the V-shaped seats 53.

[0030] The clamping device 7 feeds the angle steel into the clamp and holds it in place. The clamp then transports the angle steel on the angle steel production line 10 for processing.

[0031] The above embodiments are merely exemplary embodiments of the present invention and are not intended to limit the present invention. The scope of protection of the present invention is defined by the claims. Those skilled in the art can make various modifications or equivalent substitutions to the present invention within its spirit and scope of protection, and such modifications or equivalent substitutions should also be considered to fall within the scope of protection of the present invention.

Claims

1. An automatic angle steel feeding system, characterized in that, The system includes a horizontal ground rail (1), a lifting mechanism (2), a truss (3), a robotic arm device (4), a feeding system assembly (9), a clamping device (7), and an electrical control system. The feeding system assembly (9) is located on the side of the angle steel production line (10). A truss (3) is installed above the angle steel production line (10). A robotic arm device (4) is installed on the truss (3). A clamping device (7) is installed on the angle steel production line (10). A horizontal ground rail (1) is also connected and installed on the side of the angle steel production line (10). The lifting mechanism (2) is slidably connected and installed on the horizontal ground rail (1) through a ground rail guide (11). The feeding system assembly (9) includes a material stacking device (8), a material tapping device (6), and a feeding rack device (5). The feeding rack device (5) includes a feeding rack body (51), on which a sprocket (54) transmission device is provided. A chain (55) is connected through the sprocket (54). One end of the chain (55) corresponds to the angle steel production line (10), and the other end is provided with an angle steel placement area (52) on the feeding rack body (51). V-shaped seats (53) for placing angle steel are provided at equal intervals on the chain (55). The feeding rack device (5) is provided with multiple sets. Each set of sprockets (54) is synchronously linked through a rotating shaft. The rotating shaft of the sprocket (54) is connected to the output shaft of the feeding motor. The feeding motor is installed on the feeding rack body (51) of the feeding rack device (5). The feeding rack body (51) is provided with an upper... The feeding guide rail (57) and the feeding device (8) are provided with a slider that cooperates with the feeding guide rail (57). The feeding device (8) is slidably connected to the feeding frame (51) through the connection between the feeding guide rail (57) and the slider. The feeding device (8) also includes a feeding support (81), a feeding cylinder (83) and a V-shaped feeding seat (84). The slider that cooperates with the feeding guide rail (57) is provided on the back of the feeding support (81). The other side of the feeding support (81) is provided with a feeding guide rail (85). The slider that cooperates with the feeding guide rail (85) is fixedly connected to the V-shaped feeding seat (84). The V-shaped feeding seat (84) is connected to the output shaft of the feeding cylinder (83) below. The feeding cylinder (83) is installed on the feeding frame. On the material support (81), a material stacking motor (82) is also installed. The output shaft of the material stacking motor (82) is connected to a gear. The feeding frame (51) is also provided with a feeding rack (56). The feeding rack (56) meshes with the gear connected to the output shaft of the material stacking motor (82) to drive the material stacking motor (82). Through the cooperation between the material stacking gear and the feeding rack (56), the material stacking device (8) can be displaced on the feeding frame (51). The material tapping device (6) includes a material tapping cylinder (61), a material tapping guide rail, and a material tapping mounting base. The material tapping device (6) is installed on the feeding frame device (5) through the material tapping mounting base. The material tapping cylinder (61) is installed on the material tapping mounting base.The output shaft of the material-tapping cylinder (61) is connected to a material-tapping plate (62). A slider is mounted on the material-tapping plate (62), and a material-tapping guide rail is mounted on the corresponding material-tapping mounting base. The action surface of the material-tapping plate (62) corresponds to the angle steel placement area (52) of the feeding rack device (5). The power units of the lifting mechanism (2), the robotic arm device (4), the feeding system assembly (9), and the clamping device (7) are all electrically connected to the electrical control system via wiring harnesses.

2. The automatic angle steel feeding system according to claim 1, characterized in that, The horizontal ground rail (1) includes a ground rail guide (11), a ground rail bracket (12), and a ground rail rack (13). The horizontal ground rail (1) is fixedly installed through the ground rail bracket (12). The ground rail guide (11) and the ground rail rack (13) are installed above the ground rail bracket (12). The ground rail rack (13) is installed between the two ground rail guides (11). A lifting mechanism (2) is slidably installed through the ground rail guides (11). The lifting mechanism (2) includes a lifting main support (26), a lifting motor (21), and a lifting plate (27). The lower end of the lifting main support (26) is provided with a slide that cooperates with the ground rail guide (11). (26) A lifting guide rail (22) is provided on the side. A lifting plate (27) is slidably connected to the slider through the lifting guide rail (22). A lifting screw (23) is installed in the center of the lifting plate (27) through a threaded connection. One end of the lifting screw (23) is installed in the screw bearing seat (24) through the screw bearing. The screw bearing seat (24) is fixedly installed on the lifting main body bracket (26). The other end of the lifting screw (23) is connected to the output shaft of the lifting motor (21). The lifting motor (21) is fixedly installed on the lifting main body bracket (26). A drag chain (25) is also installed on the lifting main body bracket (26).

3. The automatic angle steel feeding system according to claim 1, characterized in that, The robotic arm device (4) includes a C-shaped bracket (46), a robotic arm electromagnet (42), a rotating counterweight mounting base (47), and a robotic arm motor (44). The C-shaped bracket (46) is provided in two sets, and robotic arm guide rails (45) are respectively provided on the two sets of C-shaped brackets (46). A robotic arm bearing seat (43) is slidably installed through the connection between the robotic arm guide rail (45) and the slider. A counterweight shaft is installed through the robotic arm bearing (41). A rotating counterweight mounting base (47) is provided in the middle of the counterweight shaft. A robotic arm electromagnet (42) is installed at one end of the rotating counterweight mounting base (47). One end of the counterweight shaft is connected to the output shaft of the robotic arm motor (44). The robotic arm motor (44) is fixedly installed on the robotic arm bearing seat (43). A gripper for receiving and grasping angle steel is provided at the upper end of the C-shaped bracket (46).

4. The automatic angle steel feeding system according to claim 3, characterized in that, The part of the robotic arm electromagnet (42) that contacts the angle steel is designed with a special M-shaped structure, which makes it easy to grasp angle steel with the V-shaped opening facing down and the V-shaped opening facing up.

5. The automatic angle steel feeding system according to claim 1, characterized in that, The clamping device (7) includes a clamping support (75), a mounting plate, a clamping electromagnet (71), and a clamping motor (73). The clamping device (7) is mounted on the angle steel production line (10) via the mounting plate. The mounting plate is provided with a transverse clamping guide rail (74). The clamping support (75) is equipped with a matching slider to realize the transverse displacement of the clamping device (7). The clamping support (75) is equipped with a clamping motor (73). The output shaft is equipped with a clamping gear, and a meshing rack is meshed with the clamping gear. The meshing rack is fixedly connected to the clamping electromagnet (71). The meshing rack is slidably mounted on the clamping support (75) through the connection between the guide rail and the slider. Through the cooperation of the clamping gear and the clamping rack (72), the clamping motor (73) is driven, which can drive the clamping rack (72) and the clamping electromagnet (71) to move vertically. An angle steel placement opening is provided above the clamping electromagnet (71).

6. The automatic angle steel feeding system according to claim 2, characterized in that, The horizontal ground rail (1) is provided in two sets with the lifting mechanism (2), which are respectively set at both ends of the feeding system assembly (9). The lifting plate (27) is set opposite to each other and is used to hold angle steel materials.

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