Automatic feeding and discharging device for angle steel back chipping and back shoveling and using method

Abstract

The invention discloses an automatic feeding and discharging device for angle steel back gouging and back-off and a using method, and relates to the technical field of angle steel machining, the automatic feeding and discharging device comprises a base, and two back-off machines and a back gouging machine are fixedly installed at the top of the base; a feeding conveying mechanism and a discharging conveying mechanism are installed on the top of the base and located on the two sides of the two back-off machines and the two sides of the back gouging machine correspondingly, a mechanical arm mechanism is installed on the top of the base, and six first stock bins and two second stock bins are installed on the top of the base and located on one side of the mechanical arm mechanism correspondingly. The device can achieve standardized process operation, improve the production environment, liberate physical labor, eliminate potential safety hazards, save human resources, improve the industrial productivity and bring huge economic benefits, the feeding conveying mechanism has a cleaning function, dust and impurities at the top of the conveying wheel can be cleaned, and the production efficiency is improved. The friction force between the angle steel and the conveying wheels is prevented from being reduced due to dust and impurities, and the feeding stability of the angle steel is guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of angle steel processing, and specifically relates to an automatic loading and unloading device for angle steel root cleaning and back chipping and a usage method thereof. Background Technique

[0002] Angle steel root cleaning and back chipping are key processes in tower manufacturing. Root cleaning refers to removing the excess parts of the inner edges of the angle steel (usually by using a planer or a special milling cutter head for cutting), and back chipping is to chip the back edges of the angle steel into a smooth arc shape (the R dimension needs to meet the requirements of the template). The two work together to ensure the tight fit of the angle steel components and improve the installation accuracy and structural strength of the tower. During the processing, a loading and unloading device is required to improve the processing efficiency.

[0003] During the use of the existing angle steel processing loading and unloading device, it is not convenient to clean the surface of the conveying wheels. Since a large amount of dust and impurities adhere to the surface of the angle steel, a large amount of dust and impurities adhere to the surface of the conveying wheels after long-term use. The dust and impurities reduce the friction between the angle steel and the conveying wheels, thereby reducing the feeding stability of the angle steel.

[0004] Based on this, an automatic loading and unloading device for angle steel root cleaning and back chipping and a usage method thereof are provided now, which can eliminate the drawbacks of the existing device. Summary of the Invention

[0005] The purpose of the present invention is to provide an automatic loading and unloading device for angle steel root cleaning and back chipping and a usage method thereof to solve the problem in the background technique that it is not convenient to clean the surface of the conveying wheels and the feeding stability of the angle steel is reduced.

[0006] To achieve the above purpose, the present invention provides the following technical solutions:

[0007] An automatic loading and unloading device for angle steel root cleaning and back chipping includes a base. Two back chipping machines and one root cleaning machine are fixedly installed on the top of the base. On both sides of the two back chipping machines and one root cleaning machine on the top of the base, a feeding conveying mechanism and a discharging conveying mechanism are respectively installed. A robotic arm mechanism is installed on the top of the base. Six first bins and two second bins are respectively installed on one side of the robotic arm mechanism on the top of the base.

[0008] In an optional solution: The feeding conveying mechanism includes a fixing frame. The fixing frame is fixedly installed on the top of the base. A first mounting frame is fixedly installed on the top of the fixing frame. A plurality of conveying wheels are rotatably installed at equal intervals between the first mounting frame and the fixing frame through bearings. Two driving devices are installed on one side of the fixing frame. An installation groove is opened at the bottom inside the fixing frame. A displacement component is installed inside the installation groove. A pressing component is installed on the top of the fixing frame.

[0009] In an alternative solution: The pressing component includes a second mounting frame, which is fixedly installed on the top of the fixed frame. Two hydraulic cylinders are fixedly installed at the top inside the second mounting frame, and pressing wheels are installed at the output ends of the two hydraulic cylinders.

[0010] In an alternative solution: The displacement component includes a lead screw, which is rotatably installed inside the installation groove through a bearing. A first motor is fixedly installed on one side of the fixed frame, and the output end of the first motor is connected to the lead screw. A cleaning component is installed outside the lead screw.

[0011] In an alternative solution: The cleaning component includes a moving frame and two springs. The moving frame is threadedly connected to the outside of the lead screw. Rotating disks are rotatably installed on both sides inside the moving frame. Four first cleaning wheels are rotatably installed annularly at equal intervals between the two rotating disks. A second motor is fixedly installed on the top of the moving frame. The output end of the second motor is key-connected to a rotating wheel. A positioning post is fixedly connected to one side of the rotating wheel. An intermittent wheel is attached to the outside of the rotating wheel. An intermittent groove is opened on one side of the intermittent wheel, and the intermittent groove is adapted to the positioning post. A first gear is fixedly installed at one end of the rotating wheel, and the first gear is rotatably installed with respect to the moving frame. A second gear is meshed with the outside of the first gear. Both springs are fixedly installed at the bottom inside the moving frame. The top ends of the two springs are fixedly installed with lifting plates. A third gear, a fourth gear, and a fifth gear are sequentially rotatably installed on the top of one of the lifting plates. The third gear and the fourth gear are meshed with each other, and the fourth gear and the fifth gear are meshed with each other. A sixth gear is fixedly installed on the top of the fifth gear, and a seventh gear is meshed with the outside of the sixth gear. A second cleaning wheel is rotatably installed between the two lifting plates. One end of the seventh gear penetrates through the lifting plate and is connected to the second cleaning wheel. A driving shaft is fixedly installed at the bottom end of the second gear, and the bottom end of the driving shaft is rotatably installed with respect to the moving frame. The third gear is slidably connected to the driving shaft through a key slot. The first cleaning wheel is adapted to the conveying wheel, and the first cleaning wheel is adapted to the second cleaning wheel.

[0012] In an alternative solution: The robotic arm mechanism includes a traveling ground rail, which is fixedly installed on the top of the base. A sliding plate is slidably installed on the top of the traveling ground rail. A robotic arm main body is fixedly installed on the top of the sliding plate. A camera and two magnetic suction grippers are installed at one end of the robotic arm main body.

[0013] In an alternative solution: The first bin includes a first pedestal, which is fixedly installed on the top of the base. First limiting rods are fixedly installed at the four corners of the top of the first pedestal. First positioning frames are fixedly installed at equal intervals at both ends of the top of the first pedestal.

[0014] In an alternative solution: the second silo includes a second pedestal, the second pedestal is fixedly installed on the top of the base, and second limiting rods are fixedly installed at the four corners of the top of the second pedestal, and second positioning frames are fixedly installed at equal intervals at both ends of the top of the second pedestal.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0016] 1. In the present invention, the unprocessed angle steel placed above the feeding bin of the first silo is placed above the feeding conveyor mechanism by the robotic arm mechanism, and the unprocessed angle steel is moved into the back-shoveling machine or the root-cleaning machine for processing by the feeding conveyor mechanism. After processing, the angle steel is moved above the discharging conveyor mechanism, and then the angle steel on the discharging conveyor mechanism is moved above the discharging bin of the first silo by the robotic arm mechanism, which can realize standardized and process-based operations, improve the production environment, liberate physical labor, eliminate potential safety hazards, save human resources, improve industrial production capacity, and bring huge economic benefits.

[0017] 2. The feeding conveyor mechanism of the present invention has a cleaning function, which can clean the dust and impurities on the top of the conveying wheels, avoid the situation that the friction force between the angle steel and the conveying wheels is reduced due to dust and impurities, making it difficult to complete feeding, and ensure the stability of angle steel feeding. Description of the Drawings

[0018] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0019] Figure 2 It is a schematic diagram of the structure of the feeding conveyor mechanism of the present invention.

[0020] Figure 3 It is a schematic diagram of the installation structure of the first cleaning wheel of the present invention.

[0021] Figure 4 It is a schematic diagram of the fixing structure of the rotating wheel of the present invention.

[0022] Figure 5 It is a schematic diagram of the installation structure of the seventh gear of the present invention.

[0023] Figure 6 It is a schematic diagram of the structure of the robotic arm mechanism of the present invention.

[0024] Figure 7 It is a schematic diagram of the structure of the first silo mechanism of the present invention.

[0025] Figure 8 It is a schematic diagram of the structure of the second silo mechanism of the present invention.

[0026] Annotation of reference numerals: 1. Base; 2. Back-shoveling machine; 3. Root-cleaning machine; 4. Loading conveying mechanism; 41. Fixed frame; 42. First mounting frame; 43. Conveying wheel; 44. Driving device; 45. Second mounting frame; 46. Hydraulic cylinder; 47. Lower pressing wheel; 48. Installation groove; 49. Lead screw; 410. First motor; 411. Moving frame; 412. Rotating disk; 413. First cleaning wheel; 414. Second motor; 415. Rotating wheel; 416. Positioning column; 417. Intermittent wheel; 418. Intermittent groove; 419. First gear; 420. Second gear; 421. Driving shaft; 422. Spring; 423. Lifting plate; 424. Third gear; 425. Fourth gear; 426. Fifth gear; 427. Sixth gear; 428. Seventh gear; 429. Second cleaning wheel; 5. Unloading conveying mechanism; 6. Robotic arm mechanism; 61. Traveling ground rail; 62. Slide plate; 63. Robotic arm main body; 64. Camera; 65. Magnetic gripper; 7. First bin; 71. First pedestal; 72. First limiting rod; 73. First positioning frame; 8. Second bin; 81. Second pedestal; 82. Second limiting rod; 83. Second positioning frame. Detailed implementation mode

[0027] In order to make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0028] In one embodiment, as Figures 1-8 shown, an automatic loading and unloading device for angle steel root cleaning and back shoveling includes a base 1. Two back-shoveling machines 2 and a root-cleaning machine 3 are fixedly installed on the top of the base 1. The loading conveying mechanism 4 and the unloading conveying mechanism 5 are respectively installed on both sides of the two back-shoveling machines 2 and a root-cleaning machine 3 on the top of the base 1. A robotic arm mechanism 6 is installed on the top of the base 1. Six first bins 7 and two second bins 8 are respectively installed on one side of the robotic arm mechanism 6 on the top of the base 1.

[0029] In this embodiment, the robotic arm mechanism 6 places the unprocessed angle steel placed above the loading bin of the first bin 7 above the loading conveying mechanism 4. The unprocessed angle steel is moved by the loading conveying mechanism 4 into the back-shoveling machine 2 or the root-cleaning machine 3 for processing. After processing, the angle steel is moved above the unloading conveying mechanism 5, and then the robotic arm mechanism 6 moves the angle steel on the unloading conveying mechanism 5 above the unloading bin of the first bin 7. The loading conveying mechanism 4 has a cleaning function and can clean the dust and impurities on the top of the conveying wheel 43, avoiding the situation that the friction between the angle steel and the conveying wheel 43 is reduced due to dust and impurities, making it difficult to complete the loading, and ensuring the stability of the angle steel loading.

[0030] The feeding and conveying mechanism 4 includes a fixed frame 41, the fixed frame 41 is fixedly installed on the top of the base 1, a first mounting frame 42 is fixedly installed on the top of the fixed frame 41, and a plurality of conveying wheels 43 are rotatably installed at equal intervals between the first mounting frame 42 and the fixed frame 41 through bearings. Two driving devices 44 are installed on one side of the fixed frame 41. An installation groove 48 is formed at the bottom inside the fixed frame 41, and a displacement component is installed inside the installation groove 48. A pressing component is installed on the top of the fixed frame 41. The angle steel is moved above the conveying wheels 43 through the robotic arm mechanism 6. By operating the driving device 44, the conveying wheels 43 can be driven to rotate, and then the angle steel is conveyed into the inside of the back-shoveling machine 2.

[0031] The pressing component includes a second mounting frame 45, the second mounting frame 45 is fixedly installed on the top of the fixed frame 41, two hydraulic cylinders 46 are fixedly installed on the top inside the second mounting frame 45, and pressing wheels 47 are installed at the output ends of the two hydraulic cylinders 46. During the conveying process of the angle steel, the hydraulic cylinders 46 work to drive the pressing wheels 47 to move downward, so that the angle steel is clamped between the pressing wheels 47 and the conveying wheels 43, improving the stability of conveying.

[0032] The displacement component includes a lead screw 49, which is rotatably installed inside the installation groove 48 through a bearing. One side of the fixed frame 41 is fixedly installed with a first motor 410, and the output end of the first motor 410 is connected to the lead screw 49. A cleaning component is installed outside the lead screw 49. The cleaning component includes a moving frame 411 and two springs 422. The moving frame 411 is threadedly connected to the outside of the lead screw 49. Rotating disks 412 are rotatably installed on both sides inside the moving frame 411. Four first cleaning wheels 413 are rotatably installed in an equidistant annular manner between the two rotating disks 412. A second motor 414 is fixedly installed on the top of the moving frame 411. The output end of the second motor 414 is key-connected to a rotating wheel 415. A positioning column 416 is fixedly connected to one side of the rotating wheel 415. An intermittent wheel 417 is attached to the outside of the rotating wheel 415. An intermittent groove 418 is opened on one side of the intermittent wheel 417, and the intermittent groove 418 is adapted to the positioning column 416. A first gear 419 is fixedly installed at one end of the rotating wheel 415, and the first gear 419 is rotatably installed with the moving frame 411. The outside of the first gear 419 is meshed with a second gear 420. Both of the two springs 422 are fixedly installed at the bottom inside the moving frame 411. The top ends of both of the two springs 422 are fixedly installed with lifting plates 423. A third gear 424, a fourth gear 425, and a fifth gear 426 are rotatably installed in sequence on the top of one of the lifting plates 423. The third gear 424 and the fourth gear 425 are meshed with each other, and the fourth gear 425 and the fifth gear 426 are meshed with each other. A sixth gear 427 is fixedly installed at the top of the fifth gear 426, and the outside of the sixth gear 427 is meshed with a seventh gear 428. A second cleaning wheel 429 is rotatably installed between the two lifting plates 423. One end of the seventh gear 428 penetrates through the lifting plate 423 and is connected to the second cleaning wheel 429. The bottom end of the second gear 420 is fixedly installed with a drive shaft 421, and the bottom end of the drive shaft 421 is rotatably installed with the moving frame 411. The third gear 424 and the drive shaft 421 are slidably connected through a keyway. The first cleaning wheel 413 is adapted to the conveying wheel 43. The first cleaning wheel 413 is adapted to the second cleaning wheel 429. There are a large amount of impurities and dust on the surface of the angle steel. A large amount of impurities will adhere to the surface of the conveying wheel 43 during the long-term conveying of the angle steel, thereby reducing the friction between the angle steel and the conveying wheel 43 and affecting the normal conveying of the angle steel. By the operation of the second motor 414 to drive the rotation of the rotating wheel 415, due to the cooperation of the positioning column 416 and the intermittent groove 418, when the rotating wheel 415 rotates one circle, the intermittent wheel 417 rotates 90°. The rotation of the intermittent wheel 417 drives the rotation of the rotating disk 412, thereby changing the positions of the four first cleaning wheels 413 and avoiding the situation that one first cleaning wheel 413 continuously contacts the conveying wheel 43 and reduces the impurity adsorption effect.The rotation of the rotating wheel 415 drives the rotation of the first gear 419. The rotation of the first gear 419 drives the rotation of the second gear 420. Through the cooperation of the drive shaft 421, the third gear 424 rotates. Through the cooperation of the fourth gear 425, the fifth gear 426, the sixth gear 427 and the seventh gear 428, the second cleaning wheel 429 rotates. The spring 422 is always in a compressed state, so that the second cleaning wheel 429 contacts the lowermost first cleaning wheel 413, and the adhesiveness of the second cleaning wheel 429 is greater than that of the first cleaning wheel 413. The dust on the surface of the bottom first cleaning wheel 413 is transferred to the surface of the second cleaning wheel 429, extending the service life of the entire cleaning assembly. When the cleaning effect decreases, the first cleaning wheel 413 and the second cleaning wheel 429 are replaced. By the operation of the first motor 410 to drive the screw rod 49 to rotate, the position of the moving frame 411 is changed, and it moves back and forth regularly, so that the surfaces of all the conveying wheels 43 can be cleaned, improving the practicability.

[0033] The robotic arm mechanism 6 includes a traveling ground rail 61. The traveling ground rail 61 is fixedly installed on the top of the base 1. A sliding plate 62 is slidably installed on the top of the traveling ground rail 61. A robotic arm main body 63 is fixedly installed on the top of the sliding plate 62. One end of the robotic arm main body 63 is equipped with a camera 64 and two magnetic suction grippers 65. Through the cooperation of the sliding plate 62 and the traveling ground rail 61, the position of the robotic arm main body 63 can be changed, and the angle steel is moved through the cooperation of the camera 64 and the magnetic suction grippers 65.

[0034] The first bin 7 includes a first pedestal 71. The first pedestal 71 is fixedly installed on the top of the base 1. First limiting rods 72 are fixedly installed at the four corners of the top of the first pedestal 71. First positioning frames 73 are fixedly installed at equal intervals at both ends of the top of the first pedestal 71. Among the six first bins 7, there are three feeding bins and three discharging bins. The feeding bins are used to place unprocessed angle steel, and the discharging bins are used to place processed angle steel.

[0035] The second bin 8 includes a second pedestal 81. The second pedestal 81 is fixedly installed on the top of the base 1. Second limiting rods 82 are fixedly installed at the four corners of the top of the second pedestal 81. Second positioning frames 83 are fixedly installed at equal intervals at both ends of the top of the second pedestal 81. Among the two second bins 8, there is one feeding bin and one discharging bin. The feeding bin is used to place unprocessed angle steel, and the discharging bin is used to place processed angle steel.

[0036] The working principle of the present invention is:

[0037] Step 1: The six first bins 7 are divided into three feeding bins and three discharging bins for feeding or discharging the angle steel to / from the back planing machine 2. One of the two second bins 8 is a feeding bin and the other is a discharging bin for feeding or discharging the angle steel to / from the root clearing machine 3. The angle steel is placed on the feeding bin by a forklift.

[0038] Step 2: The robotic arm mechanism 6 is activated and, under the guidance of the vision system, picks up the angle steel in the feeding bin of the first-process back planing machine 2 and places it on the feeding conveyor mechanism 4 of the first-process back planing machine 2. The angle steel is conveyed into the back planing machine 2 through the feeding conveyor mechanism 4. Then, it picks up the second angle steel and places it on the buffer station of the feeding conveyor mechanism 4 of the first-process back planing machine 2.

[0039] Step 3: The robotic arm mechanism 6 moves to the feeding bin of the second-process back planing machine 2 and, under the guidance of the vision system, picks up the angle steel in the feeding bin of the second-process back planing machine 2 and places it on the feeding conveyor mechanism 4 of the second-process back planing machine 2. The angle steel is conveyed into the back planing machine 2 through the feeding conveyor mechanism 4. Then, it picks up the second angle steel and places it on the buffer station of the feeding conveyor mechanism 4 of the second-process back planing machine 2.

[0040] Step 4: The robotic arm mechanism 6 moves to the feeding bin of the third-process root clearing machine 3 and, under the guidance of the vision system, picks up the angle steel in the feeding bin of the third-process root clearing machine 3 and places it on the feeding conveyor mechanism 4 of the third-process root clearing machine 3. The angle steel is conveyed into the root clearing machine 3 through the feeding conveyor mechanism 4. Then, it picks up the second angle steel and places it on the buffer station of the feeding conveyor mechanism 4 of the third-process root clearing machine 3.

[0041] Step 5: The robotic arm mechanism 6 moves to the first-process discharging station and waits until the angle steel of the first process is back planed. Then, it stacks the processed angle steel into the first-process discharging bin.

[0042] Step 6: The robotic arm mechanism 6 continues to move to the second-process discharging station and waits until the angle steel of the second process is back planed. Then, it stacks the processed angle steel into the second-process discharging bin.

[0043] Step 7: The robotic arm mechanism 6 continues to move to the third-process discharging station and waits until the angle steel of the third process is root cleared. Then, it stacks the processed angle steel into the third-process discharging bin.

[0044] Step 8: Repeat Steps 2 to 7 until all the angle steel in the bins is processed.

[0045] As described above, it is only the specific implementation manner of this application. However, the protection scope of this application is not limited thereto. Any person skilled in the art within the technical scope disclosed in this application can easily think of changes or substitutions, which should all be covered within the protection scope of this application. Therefore, the protection scope of this application shall be subject to the protection scope of the claims.

Claims

1. An automatic loading and unloading device for chamfering and back chipping of angle steel, comprising a base (1), characterized in that, On the top of the base (1), two back-shoveling machines (2) and one root-cleaning machine (3) are fixedly installed. On both sides of the two back-shoveling machines (2) and one root-cleaning machine (3) on the top of the base (1), a feeding conveying mechanism (4) and a discharging conveying mechanism (5) are respectively installed. A robotic arm mechanism (6) is installed on the top of the base (1). On one side of the robotic arm mechanism (6) on the top of the base (1), six first bins (7) and two second bins (8) are respectively installed.

2. The automatic loading and unloading device for angle steel root cleaning and back chipping according to claim 1, characterized in that, The feeding conveying mechanism (4) includes a fixed frame (41). The fixed frame (41) is fixedly installed on the top of the base (1). On the top of the fixed frame (41), a first mounting frame (42) is fixedly installed. Between the first mounting frame (42) and the fixed frame (41), a plurality of conveying wheels (43) are rotatably installed at equal intervals through bearings. On one side of the fixed frame (41), two driving devices (44) are installed. At the bottom inside the fixed frame (41), an installation groove (48) is opened. Inside the installation groove (48), a displacement assembly is installed. On the top of the fixed frame (41), a pressing-down assembly is installed.

3. The automatic loading and unloading device for chamfering and back chipping of angle steel according to claim 2, wherein, The pressing-down assembly includes a second mounting frame (45). The second mounting frame (45) is fixedly installed on the top of the fixed frame (41). On the top inside the second mounting frame (45), two hydraulic cylinders (46) are fixedly installed. The output ends of the two hydraulic cylinders (46) are both installed with pressing-down wheels (47).

4. The automatic loading and unloading device for chamfering and back chipping of angle steel according to claim 3, wherein, The displacement assembly includes a lead screw (49). The lead screw (49) is rotatably installed inside the installation groove (48) through a bearing. On one side of the fixed frame (41), a first motor (410) is fixedly installed, and the output end of the first motor (410) is connected to the lead screw (49). Outside the lead screw (49), a cleaning assembly is installed.

5. An automatic loading and unloading device for root clearing and back chipping of angle steel according to claim 4, characterized in that, The cleaning component includes a moving frame (411) and two springs (422). The moving frame (411) is threadedly connected to the outside of the lead screw (49). Rotating disks (412) are rotatably installed on both sides inside the moving frame (411). Four first cleaning wheels (413) are rotatably installed annularly and equidistantly between the two rotating disks (412). A second motor (414) is fixedly installed on the top of the moving frame (411). A rotating wheel (415) is key-connected to the output end of the second motor (414). A positioning column (416) is fixedly connected to one side of the rotating wheel (415). An intermittent wheel (417) is attached to the outside of the rotating wheel (415). An intermittent groove (418) is formed on one side of the intermittent wheel (417), and the intermittent groove (418) is adapted to the positioning column (416). A first gear (419) is fixedly installed at one end of the rotating wheel (415), and the first gear (419) is rotatably installed with respect to the moving frame (411). A second gear (420) is meshed with the outside of the first gear (419). Both of the two springs (422) are fixedly installed at the bottom inside the moving frame (411). Lifting plates (423) are fixedly installed at the top ends of the two springs (422). A third gear (424), a fourth gear (425), and a fifth gear (426) are rotatably installed in sequence on the top of one of the lifting plates (423). The third gear (424) is meshed with the fourth gear (425), and the fourth gear (425) is meshed with the fifth gear (426). A sixth gear (427) is fixedly installed at the top of the fifth gear (426), and a seventh gear (428) is meshed with the outside of the sixth gear (427). A second cleaning wheel (429) is rotatably installed between the two lifting plates (423). One end of the seventh gear (428) penetrates through the lifting plate (423) and is connected to the second cleaning wheel (429). A driving shaft (421) is fixedly installed at the bottom end of the second gear (420), and the bottom end of the driving shaft (421) is rotatably installed with respect to the moving frame (411). The third gear (424) is slidably connected to the driving shaft (421) through a keyway. The first cleaning wheel (413) is adapted to the conveying wheel (43). The first cleaning wheel (413) is adapted to the second cleaning wheel (429).

6. The automatic loading and unloading device for chamfering and back chipping of angle steel according to claim 1, wherein, The robotic arm mechanism (6) includes a traveling ground rail (61). The traveling ground rail (61) is fixedly installed on the top of the base (1). A sliding plate (62) is slidably installed on the top of the traveling ground rail (61). A robotic arm main body (63) is fixedly installed on the top of the sliding plate (62). A camera (64) and two magnetic suction grippers (65) are installed at one end of the robotic arm main body (63).

7. An automatic loading and unloading device for root cleaning and back chipping of angle steel according to claim 1, characterized in that The first bin (7) includes a first pedestal (71) fixedly installed on the top of the base (1). At the four corners of the top of the first pedestal (71), first limit rods (72) are fixedly installed, and at both ends of the top of the first pedestal (71), first positioning brackets (73) are fixedly installed at equal intervals.

8. An automatic loading and unloading device for root cleaning and back chipping of angle steel according to claim 1, characterized in that, The second bin (8) includes a second pedestal (81) fixedly installed on the top of the base (1). At the four corners of the top of the second pedestal (81), second limit rods (82) are fixedly installed, and at both ends of the top of the second pedestal (81), second positioning brackets (83) are fixedly installed at equal intervals.

9. The usage method of an automatic loading and unloading device for angle steel root cleaning and back chipping according to any one of claims 1-8, characterized in that, It includes the following steps: Step 1: The six first bins (7) are divided into three feeding bins and three discharging bins for feeding or discharging the angle steel for the back-shoveling machine (2). One of the two second bins (8) is a feeding bin and the other is a discharging bin for feeding or discharging the angle steel for the root-cleaning machine (3). The angle steel is placed on the feeding bin by a forklift. Step 2: The robotic arm mechanism (6) is started and, under the guidance of the vision system, sucks the angle steel in the feeding bin of the first-process back-shoveling machine (2) and places it on the feeding conveyor mechanism (4) of the first-process back-shoveling machine (2). The angle steel is conveyed into the back-shoveling machine (2) through the feeding conveyor mechanism (4). Then, it sucks the second angle steel and places it on the buffer station of the feeding conveyor mechanism (4) of the first-process back-shoveling machine (2). Step 3: The robotic arm mechanism (6) moves to the feeding bin of the second-process back-shoveling machine (2) and, under the guidance of the vision system, sucks the angle steel in the feeding bin of the second-process back-shoveling machine (2) and places it on the feeding conveyor mechanism (4) of the second-process back-shoveling machine (2). The angle steel is conveyed into the back-shoveling machine (2) through the feeding conveyor mechanism (4). Then, it sucks the second angle steel and places it on the buffer station of the feeding conveyor mechanism (4) of the second-process back-shoveling machine (2). Step 4: The robotic arm mechanism (6) moves to the feeding bin of the third-process root-cleaning machine (3) and, under the guidance of the vision system, sucks the angle steel in the feeding bin of the third-process root-cleaning machine (3) and places it on the feeding conveyor mechanism (4) of the third-process root-cleaning machine (3). The angle steel is conveyed into the root-cleaning machine (3) through the feeding conveyor mechanism (4). Then, it sucks the second angle steel and places it on the buffer station of the feeding conveyor mechanism (4) of the third-process root-cleaning machine (3). Step 5: The robotic arm mechanism (6) moves to the first-process discharging station. After the angle steel of the first process is back-shoveled, the processed angle steel is stacked into the first-process discharging bin. Step 6: The robotic arm mechanism (6) continues to move to the second-process discharging station. After the angle steel of the second process is back-shoveled, the processed angle steel is stacked into the second-process discharging bin. Step 7: The robotic arm mechanism (6) continues to move to the third-process discharging station. After the angle steel of the third process is root-cleaned, the processed angle steel is stacked into the third-process discharging bin. Step 8: Repeat steps 2 to 7 until all the angle steel in the bins is processed.

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