CN118951759A

CN118951759A - Angle steel processing intelligent production line and production process method thereof

Info

Publication number: CN118951759A
Application number: CN202410916876.4A
Authority: CN
Inventors: 燕飞东; 吴福通; 时培征; 王帅; 孔凡强; 张嘉玮; 所世凯
Original assignee: Shandong Future Intelligent Technology Co ltd
Current assignee: Shandong Future Intelligent Technology Co ltd
Priority date: 2024-07-10
Filing date: 2024-07-10
Publication date: 2024-11-15
Anticipated expiration: 2044-07-10
Also published as: CN118951759B

Abstract

The invention belongs to the field of angle steel production, and relates to an intelligent angle steel processing production line and a production process method thereof. The intelligent production line comprises an upper computer system, an angle steel feeding system, an angle steel numerical control processing system, an angle steel corner cutting system and an angle steel discharging stacking system, wherein the discharge end of the angle steel feeding system is connected with the feed inlet of the angle steel numerical control processing system, the discharge end of the angle steel numerical control processing system is connected with the feed inlet of the angle steel corner cutting system, and the angle steel corner cutting system and the angle steel discharging stacking system are arranged side by side in parallel. According to the production process method of the intelligent angle steel processing production line, an angle steel raw material stack is unstacked by an angle steel feeding system, single angle steel is conveyed to an angle steel numerical control processing system to be processed and sheared, the cut angle steel is subjected to angle cutting by an angle steel angle cutting system, and finally, the cut angle steel is subjected to classified stacking and placement by an angle steel discharging stacking system. According to the invention, the functions of engineering task issuing, batch importing of machining programs, quick product changing and automatic machining are realized through the upper computer system, and the machining efficiency of angle steel is improved.

Description

Intelligent angle steel processing production line and production process method thereof

Technical Field

The invention belongs to the technical field of angle steel production, and particularly relates to an intelligent angle steel processing production line and a production process method thereof.

Background

Angle steel used for electric power iron towers is produced currently mainly by using traditional numerical control angle steel production equipment. The production mode has the following technical defects:

(1) The labor intensity is high due to manual feeding and discharging; (2) The slow production changing speed and long preparation time affect the equipment grafting rate; (3) The rough material preparation mode affects the operation efficiency and material turnover efficiency of subsequent equipment; (4) the traditional work unit type production organization form has low efficiency; (5) The processing links are used for manually changing the production according to the traditional work orders, the production changing is slow and low in efficiency, and after manual blanking, processing information is remarked according to the processing technology classification, a task order is checked, and processing drawings are configured, so that extra production preparation work is added for production line operators, and the grafting rate of production equipment is affected; (6) After numerical control processing, the digital information is converted into physical information, and the digital information flow is lost, so that the processing efficiency of the subsequent process is affected; (7) The existing single-machine equipment does not have the corner cutting function, about 40% of the angle steel after punching, steel stamping and cutting is required to be cut, the variety and the number are large, manual classification counting is required after processing, and the statistical efficiency is low; (8) The angle steel tower production and manufacturing belongs to a small-batch multi-variety discrete manufacturing mode, the angle steel production data of different production batches are different, and the repeatability is not provided; when the production and model are changed, the processing data are manually input, and the manual switching is performed, so that the efficiency is low, and the equipment grafting rate is affected.

Disclosure of Invention

In order to solve the technical problems, the invention provides an intelligent angle steel processing production line and a production process method thereof, which realize the whole process automatic production of angle steel processing: automatic recognition destacking, overturning and feeding, processing (punching, steel stamping and cutting), laser corner cutting and automatic discharging and sorting and stacking. The technical scheme adopted by the invention is as follows:

The intelligent angle steel processing production line comprises an upper computer system, wherein the upper computer system is respectively and electrically connected with an angle steel feeding system, an angle steel numerical control processing system, an angle steel corner cutting system and an angle steel discharging stacking system, the discharging end of the angle steel feeding system is connected with the feeding end of the angle steel numerical control processing system, the discharging end of the angle steel numerical control processing system is connected with the feeding end of the angle steel corner cutting system, and the angle steel corner cutting system and the angle steel discharging stacking system are arranged in parallel side by side;

The angle steel feeding system comprises a feeding truss robot with a visual identification device, wherein a transverse moving feeding table, a first mechanical turnover mechanism, a first transverse moving conveying mechanism, a magnetic turnover mechanism, a feeding conveying line and a trolley ground rail are sequentially arranged in the coverage range of the feeding truss robot, and a pushing trolley is slidably arranged on the trolley ground rail;

The angle steel corner cutting system comprises a corner cutting feeding channel, a pressing conveying mechanism is arranged at the end part of the corner cutting feeding channel, a second mechanical turnover mechanism is arranged at the front side of the corner cutting feeding channel, a second transverse conveying mechanism is arranged at the front side of the second mechanical turnover mechanism, and a three-dimensional moving laser corner cutting mechanism is arranged above the second transverse conveying mechanism;

The first mechanical turnover mechanism and the second mechanical turnover mechanism comprise turnover motors and round turnover trays, a plurality of round turnover trays are installed on a first turnover shaft at certain intervals, the first turnover shaft is rotatably installed at the upper end of a turnover support, the turnover motor shaft is connected with the end of the first turnover shaft through a motor reducer and a coupling, a plurality of angle steel placement openings are uniformly distributed on the periphery of the round turnover trays, limit lugs are integrally formed at the upper ends of one sides of the angle steel placement openings, the protruding directions of the limit lugs are consistent with the rotation directions of the round turnover trays, detection holes are formed in the surfaces of the round turnover trays, a second sensor and a third sensor are installed on the sides of the round turnover trays, the detection signal directions of the second sensor face the detection holes, and the detection signal directions of the third sensor face the front ends of the first mechanical turnover mechanism and the second mechanical turnover mechanism; the detection holes on the first mechanical turnover mechanism are two groups of detection holes symmetrically arranged along the center of the circular turnover material tray, and the number of the detection holes on the second mechanical turnover mechanism is the same as that of the angle steel placement openings;

The angle steel blanking stacking system comprises a blanking truss, a three-dimensional movable blanking truss robot is arranged on the blanking truss, a short material storage tray is arranged below the blanking truss, and a short material conveying line, a traversing machine, a long material conveying line, a traversing machine II, a long material conveying line and a traversing machine I are sequentially arranged on the rear side of the short material storage tray from back to front.

Preferably, the material pressing conveying mechanism is installed on the material pressing frame body, the material pressing conveying mechanism comprises a material pressing base, the material pressing base is installed above the material pressing frame body side, the front end of the material pressing base is movably installed with a vertically moving material pressing sliding plate, the front end of the material pressing sliding plate is provided with a driven base, the front end of the driven base is provided with a plurality of roller bases which slide up and down, the lower end of the roller base is provided with a rolling roller, two rows of cylindrical roller groups with positive V-shaped top ends are arranged below the rolling roller, a sliding material pushing base is arranged between the two rows of cylindrical roller groups, the upper end of the material pushing base is rotationally connected with the right end of a pushing claw through a pin shaft, a first proximity switch is installed below the left side material pressing roller group, a material pressing cylinder support frame is arranged above the cylindrical roller group at the right end, a connecting rod is installed at the upper end of the material pressing cylinder support frame, the left side of the material pressing cylinder is provided with a connecting rod, the leftmost end of the connecting rod is rotationally connected with the material pressing cylinder support frame through a pin shaft, the connecting rod is movably connected with the push rod of the material pressing cylinder, and the right end of the material pressing cylinder is provided with a damping electric sensor, and the material pressing device is installed at the right end of the material pressing frame body closest to the material pressing device.

Preferably, the second traversing conveying mechanism is provided with a proximity switch, a two-stage positioning stop block and a positioning stop block cylinder.

Preferably, the laser angle cutting mechanism comprises a laser angle cutting machine and a swinging motor, wherein the swinging motor is arranged on the triaxial truss, and the laser angle cutting machine is arranged at the end part of a swinging shaft of the swinging motor.

Preferably, the sideslip material loading platform includes a plurality of parallel arrangement's sideslip material loading machine, from left to right adjacent two sideslip material loading machine's interval diminish progressively, and the top of sideslip material loading machine is divided into rear end material loading station and front end unstacking station, sets up the magnetism and inhale the piece on the front end unstacking station, and front end unstacking station front portion installs first sensor and limit stop.

Preferably, the first traversing conveying mechanism comprises a plurality of chain conveyors which are arranged in parallel, a conveying stop block is arranged at the front end of each chain conveyor, and a fourth sensor is arranged at the side of each conveying stop block.

Preferably, the magnetic force tilting mechanism comprises a second tilting shaft, a tilting hand grab and a reciprocating motor, wherein a rotating shaft of the reciprocating motor is connected with the end part of the second tilting shaft through a motor speed reducer and a coupling, a plurality of tilting hand grabs are fixedly arranged on the second tilting shaft, and a fifth sensor and a sixth sensor are arranged on the side of the tilting hand grabs.

Preferably, the short material conveying line and the transverse moving machine comprise a roller line support, the roller line which is vertically lifted is movably arranged at the top of the roller line support, a plurality of cross translation machines are arranged at the right end side of the roller line, the distance between the cross translation machines is gradually reduced from left to right, and a first-stage stop block and a second-stage stop block are arranged on the cross translation machines.

Preferably, the discharging truss robot comprises a pair of magnetic force hand grips with a certain interval; the short material storage tray comprises supporting columns distributed at four corners, two tray horizontal supporting beams are connected between two adjacent supporting columns, two parallel auxiliary supporting beams are connected at the middle positions of the two tray horizontal supporting beams in the length direction, a notch in the length direction is formed in the upper surface of each auxiliary supporting beam, the head of a bolt is slidably mounted in the notch, the screw end of the bolt penetrates through a bolt through hole in a flat plate to be screwed into a nut, and two ends of the flat plate are connected with fixing columns.

The production process method of the intelligent angle steel processing production line comprises the following steps:

Step 1, placing an angle steel raw material stack on a transverse moving feeding table, photographing and sending the angle steel raw material stack to an upper computer system by a visual recognition device, recognizing the current angle steel form of the uppermost layer by the upper computer system, if the angle steel is recognized as positive V-shaped angle steel, controlling a feeding truss robot to grasp the angle steel and place the angle steel in an angle steel placing opening of a circular overturning charging tray by the upper computer system, placing the angle steel on a first transverse moving conveying mechanism along with the circumferential action of the circular overturning charging tray, changing the angle steel into an inverted V shape from positive V shape in the overturning process, and if the angle steel is recognized as inverted V-shaped angle steel, grasping the angle steel by the feeding truss robot and placing the angle steel on the first transverse moving conveying mechanism; the front end of the first traversing conveying mechanism is provided with a conveying stop block, the inverted V-shaped angle steel is conveyed to the front end on the first traversing conveying mechanism, the angle steel is stopped after reaching the position of the conveying stop block, the upper computer system controls the magnetic turnover mechanism to start, the angle steel is grabbed and turned over from bottom to top, the magnetic turnover mechanism is powered off and demagnetized after being turned over in place, the angle steel is placed on a material conveying line, and the angle steel is changed from the inverted V shape into the positive V shape;

step 2, enabling the angle steel to enter an angle steel numerical control processing system from a feeding conveying line, and sequentially performing steel stamping, punching and shearing procedures by the angle steel numerical control processing system;

Step 3, conveying the right end of the cut angle steel to the left end of the cylindrical roller set, sending a signal to an upper computer system by a first proximity switch, controlling and starting a second adjusting cylinder by the upper computer system to enable a pinch roller to descend so as to compress the angle steel, driving the angle steel to feed rightwards by a speed reducing motor by the upper computer system, detecting that an angle steel material is sent to the upper computer system by a position sensor, controlling and starting a material pressing cylinder by the upper computer system, driving a damping wheel to move downwards so as to press the angle steel, abutting the right end of the push claw against the left end of the angle steel after the first photoelectric sensor detects that the angle steel completely passes through the push claw, sending a signal to the upper computer system by the first photoelectric sensor, controlling and starting a push motor by the upper computer system so as to enable the push claw to move rightwards, and pushing the angle steel to be integrally pushed to the upper part of a corner cutting feeding channel; the second proximity switch detects that the left end of the angle steel leaves the material pressing frame body, the second proximity switch sends a signal to the upper computer system, the upper computer system controls the material pushing motor to reversely rotate to reset the material pushing claw, and the upper computer system controls the material pressing cylinder to reversely move to reset the material pressing cylinder; after receiving an incoming material signal from the corner cutting feeding channel, the upper computer system controls the second mechanical turnover mechanism to start, the circular turnover charging tray performs intermittent circular motion, angle steel is placed on the second traversing conveying mechanism, meanwhile, the angle steel is changed from a positive V shape to an inverted V shape, a proximity switch, two stages of positioning check blocks and positioning check block cylinders are arranged on the second traversing conveying mechanism, the angle steel on the second traversing conveying mechanism conveys forwards, the proximity switch detects the incoming material, the front stage positioning check block cylinders and the positioning check blocks cooperate to enable the angle steel to lean against the positioning baffle, the second traversing conveying mechanism stops and automatically performs corner cutting processing, the second traversing conveying mechanism starts after corner cutting processing is completed, the front stage positioning check block cylinders and the positioning check blocks cooperate to enable the angle steel to continue to convey forwards, and after the rear stage positioning check block cylinders and the positioning check blocks cooperate to stop the angle steel, the second traversing conveying mechanism continues to operate for a period of time, so that the angle steel is completely attached to the rear stage positioning check block;

and 4, transmitting the angle steel workpiece information to a control system of the blanking truss robot by an upper computer system, guiding the blanking truss robot to grab the processed angle steel automatically by magnetic force, and stacking and placing the angle steel on a corresponding conveying line and a traversing machine or a short material storage tray according to the angle steel classification information.

Preferably, the rear end material loading station and the front end station of unstacking are divided into to sideslip material loading platform top, set up the magnetism on the front end station of unstacking and inhale the piece, in step 1, on the angle steel raw materials buttress was placed the rear end material loading station of sideslip material loading platform through AGV dolly or driving, upper computer system control sideslip material loading platform was carried the front end station of unstacking with angle steel raw materials buttress from the rear end material loading station on, produce the magnetic attraction that can not influence the angle steel and snatch after the magnetism is inhaled the piece circular telegram, assist bottom angle steel location when unstacking snatchs the angle steel, avoid once snatching many angle steel or angle steel of bottom and take place to remove.

Preferably, in the step 4, the short material conveying line and the transverse moving machine are responsible for conveying and classifying the angle steel which is less than 2.2 meters and needs to be subjected to subsequent secondary processing, and the angle steel which is less than 2.2 meters and can be directly put into storage is cached in the short material storage tray; one of the long material conveying line, the transverse moving machine I, the long material conveying line and the transverse moving machine II is responsible for classifying, stacking and storing the angle steel which is more than 2.2 meters and needs to be processed later, and the other one is responsible for classifying, stacking and storing the angle steel which is more than 2.2 meters and can be directly put into storage.

The invention has the beneficial effects that:

1. according to the invention, the functions of issuing engineering tasks, importing processing programs in batches, rapidly replacing products and automatically processing are realized through an upper computer system; the production is quickly replaced, manual input is replaced, the information flow in the angle steel processing process can be opened, and the angle steel processing efficiency is improved;

2. according to the invention, interconnection and intercommunication and integrated control with downstream production equipment are realized through the system, the whole process of angle steel processing is realized, and manual operation is saved;

3. The visual identification device is arranged, so that the state and the coordinates of angle steel can be identified, the angle steel in a positive V shape and the angle steel in an inverted V shape are classified and grabbed, and finally, the four types of angle steel are separately stored in the blanking process, so that the subsequent collection and transportation are facilitated;

4. The invention is provided with a mechanical turnover mechanism, replaces the traditional magnetic attraction turnover mechanism, and has high stability;

5. the invention adopts the design of double-head laser angle cutting, the laser angle cutting machine is arranged on a three-coordinate axis mechanism, has a parameterization processing function, can manually input processing parameters, can also accept the processing parameters of a whole line master control system in batches, and can call the processing parameters for automatic processing according to the information of the number of the processed piece.

Drawings

The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention. In the drawings:

Fig. 1 is a schematic diagram of the overall structure of an intelligent angle steel processing production line according to an embodiment of the invention;

Fig. 2 is a schematic diagram of the overall structure of the angle steel feeding system in fig. 1;

FIG. 3 is a schematic perspective view of the traversing loading table of FIG. 2;

FIG. 4 is a left side view of FIG. 3;

FIG. 5 is a perspective view of the first mechanical tilting mechanism of FIG. 2;

FIG. 6 is an enlarged view of a portion of FIG. 5 at A;

fig. 7 is a schematic perspective view of the loading truss robot in fig. 2;

FIG. 8 is a schematic perspective view of the first traversing mechanism in FIG. 2;

FIG. 9 is a schematic perspective view of the magnetic force tilting mechanism in FIG. 2;

FIG. 10 is a schematic perspective view of the angle steel corner cutting system of FIG. 1;

FIG. 11 is a schematic perspective view of the pressing and conveying mechanism in FIG. 10;

FIG. 12 is a left side view of FIG. 11;

FIG. 13 is a front view of the left end portion of FIG. 11;

FIG. 14 is a perspective view of the laser angle cutting mechanism of FIG. 10;

FIG. 15 is a partial enlarged view at B in FIG. 14;

FIG. 16 is a right side view of FIG. 14;

Fig. 17 is a schematic perspective view of the angle steel blanking stacking system in fig. 1;

FIG. 18 is a perspective view of the stub bar conveyor line and traversing mechanism of FIG. 17;

FIG. 19 is a left side view of FIG. 18;

FIG. 20 is a perspective view of the compact storage tray of FIG. 17;

FIG. 21 is a top view of the short stock storage tray of FIG. 17;

In the figure, 1 is an angle steel feeding system, 2 is an angle steel numerical control processing system, 3 is an angle steel corner cutting system, 4 is an angle steel blanking stacking system, 5 is a magnetic turnover mechanism, 6 is a feeding conveying line, 7 is a pushing trolley, 8 is a feeding truss robot, 9 is a traversing feeding table, 10 is a first mechanical turnover mechanism, 11 is a first traversing conveying mechanism, 12 is a first sensor, 13 is a first chain transmission component, 14 is a traversing feeding machine, 15 is a second sensor, 16 is a third sensor, 17 is a detection hole, 18 is a first turnover shaft, 19 is a circular turnover tray, 20 is a turnover motor, 21 is a turnover bracket, 22 is an angle steel raw material stack, 23 is a magnetic suction block, 24 is a feeding motor, 25 is a transmission shaft, 26 is a second mechanical turnover mechanism, 27 is a corner cutting feeding channel, 28 is a laser corner cutting mechanism, 29 is a pressing conveying mechanism, 30 is a pressing frame body, 31 is a second traversing conveying mechanism, 32 is a driven base, 33 is a roller base, 34 is a pressing roller, 35 is a pressing base, 36 is a speed reducing motor, 37 is a pressing cylinder supporting frame, 38 is a pressing cylinder, 39 is a connecting rod, 40 is a damping wheel, 41 is a pushing motor, 42 is a cylinder roller group, 43 is a first adjusting cylinder, 44 is a second adjusting cylinder, 45 is a second chain transmission component, 46 is a pushing claw, 47 is a pushing base, 48 is a pushing guide rail, 49 is a triaxial truss, 50 is a laser angle cutter, 51 is an X-axis displacement device, 52 is a swinging motor, 53 is a fixed plate, 54 is a Z-axis displacement device, 55 is a Z-axis bracket, 56 is a Y-axis displacement device, 57 is a Y-axis bracket, 58 is a blanking truss robot, 59 is a short material storage tray, 60 is a blanking truss, 61 is a short material conveying line and traversing machine, 62 is a long material conveying line and a traversing machine, 63 is a long material conveying line and a traversing machine II, 64 is a roller line, 65 is a roller line bracket, 66 is a roller line motor, 67 is a lifting cylinder, 68 is a first-stage stop block, 69 is a first-stage stop block cylinder, 70 is a cross translator, 71 is a second-stage stop block, 72 is a translator driving motor, 73 is a supporting upright, 74 is a fixed upright, 75 is a flat plate, 76 is a tray horizontal supporting beam, and 77 is a notch.

Detailed Description

The following description of the embodiments of the present invention will be made apparent and complete in conjunction with the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the present invention.

As shown in FIG. 1, the intelligent angle steel processing production line comprises an upper computer system, an angle steel feeding system 1, an angle steel numerical control processing system 2, an angle steel corner cutting system 3 and an angle steel discharging stacking system 4. The angle steel numerical control machining system 2 is in the prior art, the angle steel feeding system 1 advances angle steel to the angle steel numerical control machining system 2, the steel printing, punching and shearing procedures are sequentially executed through the angle steel numerical control machining system 2, a six-character box and a double-disc are adopted in the steel printing procedure, the six-character box is used for pressing tower models, the disc is responsible for pressing part numbers, and the steel printing numbers are pressed by three pressing braking actions.

As shown in fig. 2, the angle steel feeding system comprises a feeding truss robot 8, a transverse moving feeding table 9, a first mechanical turnover mechanism 10, a first transverse moving conveying mechanism 11, a magnetic turnover mechanism 5, a feeding conveying line 6 and a trolley ground rail are sequentially and fixedly arranged on the ground in a movable coverage range of the feeding truss robot 8, the length directions of the first mechanical turnover mechanism 10, the magnetic turnover mechanism 5, the feeding conveying line 6 and the trolley ground rail are consistent, and a pushing trolley 7 is slidably mounted on the trolley ground rail.

As shown in fig. 3 and 4, the transverse feeding table 9 includes five parallel transverse feeding machines 14, the five transverse feeding machines 14 are installed on the ground at a certain interval, the interval between two adjacent transverse feeding machines 14 from left to right is gradually reduced, the transverse feeding machines 14 are provided with intervals of different sizes to adapt to angle steel of different lengths, and the transverse feeding machines 14 adopt heavy-duty chain plate type transverse feeding machines. The front ends of the five traversing feeding machines 14 are respectively and rotatably connected to the periphery of a transmission shaft 25, the transmission shaft 25 is in transmission connection with an output shaft of a feeding motor 24 through a first chain transmission assembly 13, and the feeding motor 24 is fixedly installed on the ground below the middle section of the transmission shaft 25. The upper part of the transverse feeding machine 14 is divided into two stations, namely a rear-end feeding station and a front-end unstacking station, the angle steel raw material stack 22 is firstly placed on the rear-end feeding station, and then the angle steel raw material stack 22 is conveyed to the front-end unstacking station through the rotation of a chain plate of the transverse feeding machine 14. The front end unstacking station of the transverse moving feeding machine 14 at the left end and the right end is fixedly provided with a magnetic attraction block 23, and the magnetic attraction block 23 is of an electromagnet structure. The front end unstacking station front part of the first, third and fifth transverse moving feeding machines 14 is provided with a first sensor 12, and the front end unstacking station front part of each transverse moving feeding machine 14 is provided with a limit stop.

As shown in fig. 5 and 6, the first mechanical turnover mechanism 10 includes a turnover motor 20 and circular turnover trays 19, where five circular turnover trays 19 are installed on the first turnover shaft 18 at a certain interval, and the position of the circular turnover trays 19 corresponds to the position of the traversing feeder 14. The first turnover shaft 18 is rotatably mounted at the upper end of the turnover support 21, the upper end of the turnover support 21 is provided with a bearing seat, and the first turnover shaft 18 passes through the bearing seat to reduce the rotation friction force. The left side of the left-most turnover support 21 is provided with the turnover motor 20, a rotating shaft of the turnover motor 20 is connected with the right end part of the first turnover shaft 18 through a motor reducer and a coupling, and a reducer support frame is arranged below the motor reducer. Eight angle steel placing openings are uniformly distributed on the periphery of the circular overturning tray 19, and a limiting lug is integrally formed at the upper end of one side of each angle steel placing opening, and the protruding direction of each limiting lug is consistent with the rotation direction of the circular overturning tray 19. The surface of circular upset charging tray 19 sets up two sets of detection holes 17 that set up along circular upset charging tray 19 central symmetry, the subaerial fixed mounting sensor support in left side of the second circular upset charging tray 19 of left end, the upper end of sensor support installs second sensor 15 and third sensor 16 respectively, second sensor 15 is photoelectric sensor, the direction of detection signal of second sensor 15 is towards detection hole 17, the direction of detection signal of third sensor 16 is towards first mechanical tilting mechanism 2 front end, the direction of detection signal of second sensor 15 and third sensor 16 mutually perpendicular, and the detection distance of third sensor 16 can only reach first sideslip conveying mechanism 11's rearmost conveying station, sets up three conveying station on the first sideslip conveying mechanism 11, can carry three angle steel simultaneously.

As shown in fig. 7, the feeding truss robot 8 comprises a support truss fixedly installed on the ground and a mounting rod capable of moving three-dimensionally along X, Y, Z three axes on the support truss, wherein a plurality of magnetic hand grippers are uniformly distributed at the lower end of the mounting rod, a group of electromagnets are arranged at the lower ends of the magnetic hand grippers, and a visual recognition device is arranged on the left side of the magnetic hand grippers through a supporting frame.

As shown in fig. 8, the first traverse conveying mechanism 11 includes five parallel chain conveyors, and the positions of the chain conveyors correspond to the traverse loading machine. The front end and the rear end of the chain conveyor are respectively provided with a front end chain wheel and a rear end chain wheel, and the front end chain wheel and the rear end chain wheel are in meshed transmission connection through a transverse conveying chain. The left ground of the middle chain conveyor is fixedly provided with a conveying motor, a rotating wheel on a rotating shaft of the conveying motor is in meshed transmission connection with a driving wheel on a conveying shaft through a second chain transmission mechanism, five driven wheels are arranged on the conveying shaft corresponding to the position of the transverse conveying chain, and the driven wheels are in meshed transmission connection with the transverse conveying chain. The upper surface of the front end of the chain conveyor is fixedly provided with a conveying stop block, and the right side of the conveying stop block is fixedly provided with a fourth sensor.

As shown in fig. 9, the magnetic force turning mechanism 5 includes a second turning shaft, a turning hand grip and a reciprocating motor, wherein a rotating shaft of the reciprocating motor is connected with the right end part of the second turning shaft through a motor reducer and a coupling, and a supporting frame is installed below the motor reducer. The five overturning hand grips are fixedly arranged on the second overturning shaft, and the positions of the overturning hand grips correspond to the positions of the transversely moving feeding machine. And a fifth sensor and a sixth sensor are fixedly arranged on the left side of the second fixing bracket at the left end through a sensor bracket, and the sixth sensor is positioned on the front side of the fifth sensor. The top of the overturning hand grab is of an electromagnet structure, and after the overturning hand grab is electrified, magnetic attraction can be generated to grab angle steel. The initial position of the overturning hand grab is positioned below the front end angle steel conveying station on the first transverse conveying mechanism.

The feeding conveying line 6 is in the prior art, and comprises a plurality of pairs of rollers which are arranged in a pair of perpendicular and opposite inclination manner, each pair of rollers forms a right-angle structure matched with the positive V-shaped angle steel, the pushing trolley 7 on one side moves on the ground rail of the trolley to provide power, and the positive V-shaped angle steel can be automatically conveyed to the next procedure (angle steel numerical control machining system 2) through the rotation of the pairs of rollers.

As shown in fig. 10, the angle steel corner cutting system 3 includes a corner cutting feeding channel 27, a pressing conveying mechanism 29 is disposed above the left end of the corner cutting feeding channel 27, the pressing conveying mechanism 29 is fixedly mounted on the ground through a pressing frame 30 below, a second mechanical turnover mechanism 26 is disposed on the front side of the corner cutting feeding channel 27, a second traversing conveying mechanism 31 is disposed on the front side of the second mechanical turnover mechanism 26, and a laser corner cutting mechanism 28 is mounted above the second traversing conveying mechanism 31. The chamfer feeding channel 27, the second mechanical turnover mechanism 26 and the second transverse moving conveying mechanism 31 are arranged in parallel in the length direction.

As shown in fig. 11, 12 and 13, the pressing frame 30 is a profile welding frame structure, and comprises a bottom cuboid pressing frame body placed on the ground and an upper side mounting frame fixedly mounted on the left upper side of the bottom cuboid pressing frame body, wherein the pressing frame body 30 plays a role in fixed mounting and supporting. The pressing and conveying mechanism 29 comprises a pressing base 35, the pressing base 35 is fixedly arranged on the inner side of the upper end of the upper side mounting frame, a pair of parallel vertical guide rails are arranged at two ends of the front side surface of the pressing base 35, a pressing sliding plate which is in sliding connection with the vertical guide rails is movably arranged at the front end of the pressing base 35, the lower end of the pressing sliding plate is connected with the upper end of a piston rod of a second adjusting cylinder 44, the bottom of the second adjusting cylinder 44 is fixedly arranged on a bottom cuboid pressing frame body, and the second adjusting cylinder 44 is used for controlling the pressing sliding plate to move up and down. The front end of the material pressing slide plate is fixedly provided with a driven base 32, and the driven base 32 moves up and down along with the material pressing slide plate. The front end of the driven base 32 is provided with a plurality of groups of vertical guide rails, and a roller base 33 is connected to each group of vertical guide rails in a sliding manner. The driven base 32 upper end is fixedly provided with a plurality of first adjustment cylinder 43, and the push rod of first adjustment cylinder 43 passes through the floating joint and is connected with running roller base 33, can control running roller base 33 and reciprocate.

The lower end of each roller base 33 is provided with a second chain transmission assembly 45, and chain wheels in the second chain transmission assembly 45 can adopt double rows of chain wheels, so that the roller base is more stable in transmission compared with a single chain wheel, and the transmission efficiency is higher. The front end of the roller base 33 is provided with a gear motor 36, an output shaft of the gear motor 36 is in transmission connection with a second chain transmission assembly 45, and the front end of a rotating shaft of each second chain transmission assembly 45 is rotatably connected with a pinch roller 34. The cylinder roller set 42 is arranged below the pinch roller 34, the cylinder roller set 42 is fixedly arranged at the upper end of the bottom cuboid material pressing frame body, the cylinder roller set 42 is provided with two rows of cylinder rollers which are symmetrically distributed in parallel, the cylinder rollers on the two rows of cylinder roller sets 42 are obliquely arranged, two opposite cylinder rollers form a structure matched with positive V-shaped angle steel, and the two rows of cylinder roller sets 42 are used for supporting and conveying the angle steel. A pushing base 47 is arranged between the two rows of cylindrical roller groups 42, an inner thread hole is formed in the lower end of the pushing base 47 and is in transmission connection with a screw rod extending at the rotating shaft of the pushing motor 41 in a matched mode, the pushing motor 41 is fixedly arranged at the right end of the bottom cuboid pressing frame body, and the pushing base 47 can be controlled to move left and right through the pushing motor 41. The upper end of the pushing base 47 is rotatably connected with the right end of the pushing claw 46 through a pin shaft, and because the connecting point is close to the right end of the pushing claw 46, the left end of the pushing claw 46 lifts the right end of the pushing claw 46 to form a slope for angle steel to pass through due to gravity sinking. The lower surface of the pushing base 47 is slidably mounted on a pushing guide rail 48, the pushing guide rail 48 is fixedly mounted on a bottom cuboid pressing frame body, and the pushing guide rail 48 supports and limits the pushing base 47. A first proximity switch is arranged on the bottom cuboid material pressing frame body at the left side of the pinch roller 34 and is used for detecting whether angle steel reaches the pinch roller 34. A pressing cylinder supporting frame 37 is arranged above the cylindrical roller group 42 at the right end, and the lower end of the pressing cylinder supporting frame 37 is fixedly connected with a bottom cuboid pressing frame body. The upper end of the pressing cylinder supporting frame 37 is fixedly provided with a pressing cylinder 38, a position sensor is arranged on a cuboid pressing frame body at the left bottom of the pressing cylinder 38, a connecting rod 39 is arranged below the pressing cylinder 38, the leftmost end of the connecting rod 39 is rotatably connected with the pressing cylinder supporting frame 37 through a pin shaft, and the middle part of the connecting rod 39 is movably connected with a push rod of the pressing cylinder 38. The right end of the connecting rod 39 is provided with a damping wheel 40, and the connecting rod 39 can drive the damping wheel 40 to swing to press the angle steel by controlling the material pressing cylinder 38. The rightmost end of the bottom cuboid pressing frame body is provided with a second proximity switch which is used for detecting whether the angle steel is integrally pushed out of the pressing frame body 30 and integrally conveyed to the corner cutting feeding channel 27. A first photoelectric sensor is installed on the material pressing frame body 30 below the material pushing claw 46 and is used for detecting whether the left end of the angle steel integrally passes through the material pushing claw 46.

The left end of chamfer material loading way 27 is close to the right-hand member of pressure material conveying mechanism 29, and chamfer material loading way 27 includes a plurality of charging brackets of fixed mounting subaerial, and the top rotation of charging bracket installs a plurality of positive V-arrangement unpowered running roller, and a plurality of unpowered running roller forms the material loading roll table and supplies the angle steel to pass through. A certain gap is reserved between two adjacent feeding brackets and is used for placing a round overturning tray in the second mechanical overturning mechanism 26. The second mechanical turnover mechanism 26 is similar to the first mechanical turnover mechanism 10 in structure, except that the number of detection holes formed in the circular turnover tray is the same as the number of the notches for placing the angle steel, so that a plurality of angle steel can be turned once.

The second traverse conveying mechanism 31 is similar to the first traverse conveying mechanism 11 in structure, but is provided with a positioning stop block and a positioning stop block cylinder, so that angle steel is suspended on the second traverse conveying mechanism 31 for angle cutting operation.

As shown in fig. 14, 15 and 16, the laser angle cutter 38 is movably mounted on a triaxial truss 49, and can perform three-dimensional movements of X axis, Y axis and Z axis on the triaxial truss 49, and perform angle cutting operation on the angle steel on the second traverse conveying mechanism 31. The X-axis supports are arranged in parallel with the length direction of the corner cutting feeding channel 27, one ends of a pair of Y-axis supports 45 are slidably arranged at two ends of the X-axis supports through guide rails, an X-axis displacement device 39 is fixedly arranged at the end parts of the Y-axis supports 45, and the X-axis displacement device 39 is used for driving the Y-axis supports 45 to horizontally move along the X-axis supports. The upper side of the fixed plate 41 is slidably mounted on a Y-axis bracket 45 through a guide rail, and a Y-axis displacement device 44 is fixedly mounted above the fixed plate 41, wherein the Y-axis displacement device 44 is used for driving the fixed plate 41 to horizontally move along the Y-axis bracket 45. The Z-axis bracket 43 is slidably mounted on the fixed plate 41 through a guide rail, the Z-axis displacement device 42 is fixedly mounted on one side surface of the fixed plate 41, the swing motor 40 is fixedly mounted on the lower end part of the Z-axis bracket 43, the laser angle cutter 38 is fixedly mounted on the swing shaft end part of the swing motor 40, the swing motor 40 is used for controlling the laser angle cutter 38 to swing, the angle cutting operation can be carried out on two surfaces of the angle steel end part from two directions respectively, and cutting slag can be reduced. The X-axis displacement device 39, the Y-axis displacement device 44 and the Z-axis displacement device 42 are conventional, and can be moved by a matched structure of a gear and a rack.

As shown in fig. 17, the angle steel blanking stacking system 4 includes a blanking truss 60, and a blanking truss robot 58 is movably mounted on the blanking truss 60. Two short material storage trays 59 are placed on the ground below the blanking truss 60, the rear side of the short material storage trays 59 is sequentially provided with a short material conveying line and a transverse moving machine 61, a long material conveying line and a transverse moving machine II 63 and a long material conveying line and a transverse moving machine I62 from the rear to the front, the conveying line length of the long material conveying line and the transverse moving machine I62 is larger than that of the short material conveying line and the transverse moving machine 61, the conveying line length of the long material conveying line and the transverse moving machine II 63 is larger than that of the long material conveying line and the transverse moving machine I62, the conveying line of the short material conveying line and the transverse moving machine 61, the conveying line of the long material conveying line and the transverse moving machine I62 and the conveying line of the right end of the long material conveying line and the transverse moving machine II 63 are located on the ground below the blanking truss 60, the conveying line of the right end is located on the ground outside the blanking truss 60, and the cross transverse moving machine 7 front ends of the short material conveying line and the long material conveying line and the transverse moving machine I62 and the transverse moving machine II 63 are crossed with the conveying line of the right end.

As shown in fig. 18 and 19, the short material conveying line and the traversing machine 61 includes a roller line support 65, where the roller line support 65 is a three-dimensional frame structure formed by welding section bars, and includes six vertical support columns symmetrically arranged in pairs, and two layers of upper and lower horizontal reinforcing beams are welded between adjacent vertical support columns to improve the mechanical support strength of the roller line support 65. The roller wire 64 is movably arranged at the top of the roller wire bracket 65, the roller wire 64 comprises two roller wire side beams which are arranged in parallel and in the length direction, a plurality of roller brackets which are arranged in parallel are fixedly arranged above the two roller wire side beams, and a roller driven by a chain transmission mechanism is rotatably arranged on the roller brackets. The specific movable mounting structure of the roller wire 64 is: two ends and the middle part of the roller line side beam are respectively provided with a movement limiting groove corresponding to the vertical support columns one by one, the top ends of the vertical support columns are inserted into the movement limiting grooves of the roller line side beam, four lifting cylinders 67 which are opposite to each other are fixedly arranged at the middle position of the horizontal stiffening beam on the upper layer through a bolt structure, and the piston rod ends of the lifting cylinders 67 are abutted to the lower surface of the roller line side beam. A roller wire motor 66 is fixedly arranged on the ground below the left end of the roller wire 64, and an output shaft of the roller wire motor 66 is in transmission connection with a chain transmission mechanism on the roller. A plurality of cross translators 70 are fixedly arranged at the right end side of the roller line 64, the distance between the cross translators 70 is gradually reduced from left to right, and different distances can be suitable for short angle steel with different sizes. The cross translator 70 is an existing product that implements angle translation through a translating chain. The middle part of the side surface of the cross translation machine 70 is fixedly provided with a first-stage stop block cylinder 69, the upper end of a piston rod of the first-stage stop block cylinder 69 is fixedly connected with a first-stage stop block 68, and the rear end of the cross translation machine 70 is fixedly provided with a second-stage stop block 71 with an L-shaped structure. The right rear end of the roller wire support 65 is fixedly provided with a translation machine driving motor 72, and the output shaft of the translation machine driving motor 72 is provided with a plurality of translation chain transmission mechanisms corresponding to the cross translation machine 70, and the translation chain transmission mechanisms are in transmission connection with the translation chains of the cross translation machine 70. The front end of the translation chain of the cross translator 70 is located between the two rollers of the roller line 64.

The first long material conveying line and the first transverse moving machine 62 have the same structure as the short material conveying line and the first transverse moving machine 61, but the first long material conveying line and the first transverse moving machine 62 have the length larger than that of the short material conveying line and the first transverse moving machine 61, and the installation direction of the cross translator 70 on the first long material conveying line and the first transverse moving machine 62 is opposite to that of the cross translator 70 on the short material conveying line and the first transverse moving machine 61.

The long material conveying line and the second transverse moving machine 63 have the same structure as the long material conveying line and the first transverse moving machine 62, but the length of the long material conveying line and the second transverse moving machine 63 is longer than that of the long material conveying line and the first transverse moving machine 62, and the installation direction of the cross translation machine 70 on the long material conveying line and the second transverse moving machine 63 is opposite to that of the cross translation machine 70 on the long material conveying line and the first transverse moving machine 62.

The discharging truss 60 comprises four vertical support columns fixedly installed on the ground, and the upper end parts of the vertical support columns are fixedly connected with two horizontal support beams in the length direction. The discharging truss robot 58 includes: the magnetic force hand is grabbed, two X axle supports, a Y axle support and a Z axle support, two X axle supports parallel arrangement, the horizontal support beam's of two X axle supports both ends fixed connection length direction about the tip respectively, X axle support upper surface sets up X axle sliding guide, the both ends lower surface slidable mounting of Y axle support is on X axle sliding guide, the both ends of Y axle support set up X axle drive arrangement respectively, realize Y axle support along X axle support horizontal migration through X axle drive arrangement's drive. The upper surface of the Y-axis support is provided with a Y-axis sliding guide rail, the fixed plate is slidably mounted on the Y-axis sliding guide rail, the fixed plate is provided with a Y-axis driving device, and the fixed plate is driven by the Y-axis driving device to horizontally move along the Y-axis support. The Z-axis sliding guide rail in the vertical direction is arranged on the fixed plate, the Z-axis support is slidably mounted on the Z-axis sliding guide rail, the Z-axis driving device is mounted on the fixed plate, and the Z-axis support vertically moves up and down relative to the fixed plate through driving of the Z-axis driving device. The Z-axis support is of an inverted T-shaped structure, the two ends of the lower cross beam of the Z-axis support are respectively and fixedly provided with a magnetic hand grip, and the three-dimensional movement of the magnetic hand grip on the blanking truss 60 is realized through the structural design, so that the magnetic hand grip is used for grabbing and placing angle steel.

A pair of magnetic hand grips 6 are arranged at the lower end of a Z-axis bracket of the blanking truss robot 58, and the double-magnetic suction design meets the gripping requirements of angle steel with different lengths and different specifications; the two sets of magnetic force hand grips of the double-magnetic suction manipulator are respectively and independently controlled through the control system, short angle steel (below 2.2 meters) is gripped by a single magnetic force hand grip, long angle steel (above 2.2 meters) is simultaneously gripped by a pair of magnetic force hand grips 6, flexible gripping of angle steel with different lengths is realized, the gripped angle steel is placed at a designated position by a discharging truss robot 58 according to the length and the follow-up direction of the gripped angle steel, and intelligent classification stacking is realized according to material classification and stacking information.

The material is snatched in classification of unloading truss robot 58, is the processing parameter that upper computer system set up according to angle steel numerical control processing system, places the angle steel on the conveyer line of corresponding length, because the coordinate that unloading truss robot 58 grabs the material is fixed with the coordinate position of blowing, can directly snatch the pile up neatly to the angle steel classification through the parameter of upper computer system record.

As shown in fig. 20 and 21, the short material storage tray 59 includes support columns 73 distributed at four corners, the bottom ends of the support columns 73 are placed on the ground, two adjacent support columns 73 are fixedly connected with a tray horizontal support beam 76 in a welding manner, two parallel auxiliary support beams are fixedly connected at the middle positions of two tray horizontal support beams 76 in the length direction in a welding manner, four tray horizontal support beams 76 and two auxiliary support beams form a lifting plane of the short material storage tray 59, the height of the lifting plane is 400mm, and an angle steel material stack is placed on the lifting plane. In order to place a plurality of stacks of angle steel material on the short material storage tray 59 once, the center of the lifting plane of the short material storage tray 59 is provided with three groups of anti-toppling devices, each group of anti-toppling devices comprises two symmetrically arranged fixed upright posts 74, the bottoms of the two symmetrically arranged fixed upright posts 74 are fixedly connected by a flat plate 75, and bolt through holes are formed in two ends of the flat plate 75. The upper surfaces of the two auxiliary supporting beams are provided with a notch 77 in the length direction, the heads of the bolts are slidably arranged in the notch 77, the screw ends of the bolts penetrate through bolt through holes in the flat plate 75 and are screwed into the nut to compress the flat plate 75, so that the anti-toppling device is fixedly arranged on the two auxiliary supporting beams, and the notch 77 is arranged to facilitate adjustment of the installation position of the flat plate 75. The fixed upright post 74 is of an adjustable structure, the distance between the three groups of anti-toppling devices can be manually adjusted according to different sizes of the angle steel material stacks, and the bolts are screwed and fixed after adjustment.

Step 1, placing an angle steel raw material stack 22 (positive V-shaped/inverted V-shaped stacking) on a rear end feeding station of a transverse moving feeding table 9 through an AGV trolley or a crane; after the first sensor 12 detects that the rear end feeding station has placed the angle steel raw material stack 22, a signal is sent to the upper computer system, the upper computer system controls the feeding motor 24 to start, the transverse moving feeding machine 14 is driven to work through the first chain transmission assembly 13 and the transmission shaft 25, and the chain plate of the transverse moving feeding machine 14 rotates to integrally convey the angle steel raw material stack 22 to the front end unstacking station for unstacking. After the first sensor 12 detects that the stack of angle steel raw materials 22 is conveyed to the front end unstacking station and is in place, a signal is sent to the upper computer system, the upper computer system controls the feeding motor 24 to stop working, and the limit stop is used for preventing the stack of angle steel raw materials 22 from moving beyond the limit under unexpected conditions. During destacking, the first sensor 12 determines whether the stack has been gripped by detecting the lowermost angle of the stack 22 of angle stock. The magnetic attraction blocks 23 are fixedly arranged on the transverse moving feeding machine 14 at the left end and the right end, the magnetic attraction blocks 23 generate magnetic attraction force which does not affect the grabbing of the angle steel after being electrified, the positioning of the angle steel at the bottom is assisted when the angle steel is grabbed by unstacking, and the situation that a plurality of angle steels are grabbed once or the angle steel at the bottom moves is avoided.

The visual recognition device shoots and sends the angle steel to the upper computer system, the upper computer system recognizes the current angle steel form of the uppermost layer, if the angle steel is recognized as positive V-shaped angle steel, the upper computer system controls the magnetic attraction of the feeding truss robot 8 to grasp the angle steel, the angle steel is placed in an angle steel placement opening of the round overturning charging tray 19 of the first mechanical overturning mechanism 10, the angle steel is placed on the first traversing conveying mechanism 11 along with the circumferential action of the round overturning charging tray 19, and the angle steel is changed into an inverted V shape from the positive V shape in the overturning process. If the angle steel is identified as the inverted V angle steel, the magnetic attraction hand of the feeding truss robot 8 grabs the angle steel, and places the angle steel on the first traversing conveying mechanism 11. The reverse V-shaped angle steel is conveyed to the front end on the first transverse conveying mechanism 11, after the angle steel reaches the conveying stop block position on the first transverse conveying mechanism 11, the magnetic force overturning mechanism 5 is started, the angle steel is grabbed and overturned onto the feeding conveying line 6 from bottom to top, the overturning hand of the magnetic force overturning mechanism 5 grabs and deenergizes, the angle steel is placed onto the feeding conveying line 6, and the angle steel is changed into a positive V shape from the reverse V shape. When the turnover hand grab is used, the turnover hand grab is positioned below the inverted V-shaped angle steel, and the phenomenon that the angle steel falls due to insufficient magnetic force of the turnover hand grab is avoided.

And 2, sequentially performing steel stamping, punching and shearing procedures by the angle steel numerical control machining system 2.

And 3, conveying the cut angle steel to a pressing conveying mechanism 29, and conveying the angle steel to the angle-cutting feeding channel 27 by the pressing conveying mechanism 29. The right end part of the angle steel is placed at the left end part of the cylindrical roller group 42, the machine of the angle steel numerical control machining system 2 provides thrust to push the right end part of the angle steel to the lower part of the pinch roller 34, the first proximity switch sends a signal to the upper computer system, the upper computer system controls and starts the second adjusting cylinder 44 to enable the pinch roller 34 to descend, the distance between the pinch roller 34 and the cylindrical roller group 42 is slightly smaller than the thickness of the angle steel, and the pinch of the angle steel is completed. The upper computer system controls and starts the gear motor 36, and the second chain transmission assembly 45 enables the pinch roller 34 to rotate to drive the angle steel to feed rightwards. The position sensor detects that angle steel is fed, the position sensor sends a signal to the upper computer system, the upper computer system controls the material pressing cylinder 38 to start, the push rod of the material pressing cylinder 38 drives the connecting rod 39 to rotate, the connecting rod 39 rotates to enable the damping wheel 40 to move downwards, the angle steel is pressed by the downwards moving damping wheel 40 to assist in pressing, the right end of the pushing claw 46 is lifted up due to the weight of the left end after the first photoelectric sensor detects that the angle steel completely passes through the pushing claw 46, the right end of the pushing claw 46 abuts against the left end of the angle steel, the first photoelectric sensor sends a signal to the upper computer system, the upper computer system controls the pushing motor 41 to start, the pushing claw 46 is enabled to move rightwards through screw transmission, and the angle steel is integrally pushed to the upper portion of the corner cutting material feeding channel 27. The second proximity switch detects that the left end of the angle steel leaves the material pressing frame body 30, the second proximity switch sends a signal to the upper computer system, the upper computer system controls the material pushing motor 41 to reversely rotate so as to reset the material pushing claw 46, and the upper computer system controls the material pressing cylinder 38 to reversely move so as to reset the material pressing cylinder 17.

After receiving the incoming material signal from the corner cutting feeding channel 27, the upper computer system controls the second mechanical turnover mechanism 26 to start, the circular turnover tray 19 performs intermittent circular motion, the angle steel is placed on the second traversing conveying mechanism 31, and the angle steel is changed from a positive V shape to an inverted V shape in the turnover process. The proximity switch on the second traverse conveying mechanism 31 detects that the incoming material is supplied, the front-stage positioning stop block cylinder is matched with the positioning stop block to enable the angle steel to lean against the positioning stop plate, and after the second traverse conveying mechanism 31 stops, the angle cutting processing is automatically carried out. After the corner cut processing is finished, the second traversing conveying mechanism 31 is started, the front-stage positioning stop block cylinder and the positioning stop block cooperate to enable the angle steel to be continuously conveyed forwards, the angle steel is continuously conveyed to the rear-stage positioning stop block cylinder and the positioning stop block, and after the rear-stage positioning stop block cylinder and the positioning stop block cooperate to stop the angle steel, the second traversing conveying mechanism 31 is continuously operated for a period of time, so that the angle steel is completely attached to the rear-stage positioning stop block. After the second traverse conveying mechanism 31 stops working, the angle steel waits to be grasped by the discharging truss robot 58.

And 4, transmitting angle steel workpiece information to a control system of the blanking truss robot 58 by an upper computer system, guiding the blanking truss robot 58 to grab the processed angle steel automatically by a magnetic force, and stacking and placing the angle steel on a corresponding conveying line and a traversing machine or a short material storage tray 59 according to angle steel classification information (mainly including short material angle steel which is directly put into storage and needs secondary processing and long material angle steel which is directly put into storage and needs secondary processing).

The short material conveying line and the traversing mechanism 61 are responsible for conveying and bearing angle steel below 2.2 meters, which needs to be subjected to a subsequent secondary processing process; in the production process, the control system guides the blanking truss robot 58 to grasp the angle steel which is less than 2.2 meters and needs to be subjected to subsequent secondary processing, the angle steel is placed on the short material conveying line and the roller line 64 of the traversing machine 61 to be piled up, when the pile height of the angle steel material pile reaches the piling standard set by the system, the control system controls the lifting cylinder 67 to descend, so that the translation chain height of the cross translating machine 70 is slightly lower than the roller height of the roller line 64, the control system starts the roller line motor 66, and the roller line motor 66 drives the roller of the roller line 64 to rotate, so that the angle steel material pile is moved forward to the tail end of the short material conveying line and the traversing machine 61 (to the position above the front end of the translation chain of the cross translating machine 70). The control system controls the lifting cylinder 67 to ascend, so that the height of a translation chain of the cross translator 70 is slightly higher than that of a roller of the roller line 64, the angle steel material stack is transferred onto the cross translator 70 from the roller line 64, the control system starts the translator driving motor 72, the translator driving motor 72 drives the translation chain of the cross translator 70 to move towards the rear end, and the angle steel material stack is translated to the short material conveying line and the rear end of the traversing machine 61 for buffering. And after the current batch production is finished or the storage amount of the angle steel stack reaches the set upper limit, transferring to the next station by a subsequent logistics carrier (a logistics carrier such as a forklift).

The cross translator 70 is provided with a first-stage stop block 68 and a second-stage stop block 71, and two angle steel stacks can be cached in a partition mode on the cross translator 70. The control system initially controls the primary stop cylinder 69 to rise so that the upper end of the primary stop 68 is higher than the upper surface of the cross translator 70, and translates the first stack of angle steel to the front end of the primary stop 68. When the second angle steel stack needs to be cached again, the control system controls the first-stage stop block cylinder 69 to descend so that the upper end of the first-stage stop block 68 is lower than the upper surface of the cross translation machine 70, the control system starts the translation machine driving motor 72, the translation machine driving motor 72 drives the translation chain of the cross translation machine 70 to move to the rear end, the first angle steel stack cached in the front is placed at the front end of the second-stage stop block 71, and meanwhile, the control system controls the first-stage stop block cylinder 69 to ascend again to cache the second angle steel stack in the rear to the front end of the first-stage stop block 68.

The angle steel below 2.2 meters can be directly put into storage and buffered in the short material storage tray 59, and a standby short material storage tray 59 and two short material storage trays 59 are configured to improve the production efficiency. The control system directs the blanking truss robot 58 to grasp the angle steel below 2.2 meters that is directly put in storage and place it on the short stock storage tray 59, and stack it on the short stock storage tray 59. The angle steel is required to be placed between the adjacent pair of anti-toppling devices of the short stock storage tray 59 or between the outer anti-toppling device and the two support posts 73 during stacking.

The first long material conveying line and traversing machine 62 and the second long material conveying line and traversing machine 63 are responsible for bearing and conveying angle steel with the length of more than 2.2 meters, and the working flow of the angle steel is the same as that of the short material conveying line and traversing machine 61. One of the long material conveying line and the first transverse moving machine 62 and the long material conveying line and the second transverse moving machine 63 is responsible for classifying, stacking and storing the angle steel which is more than 2.2 meters and needs to be subjected to the subsequent processing technology; and the other angle steel which is responsible for more than 2.2 meters and can be directly put into storage is classified, piled and stored.

The angle steel blanking stacking system 4,1 of the invention combines the technological requirements, and designs four types of different angle steel materials: 2.2 meters or less, and needing secondary processing of angle steel; 2.2 meters or more, and needing secondary processing of angle steel; flow direction of four kinds of different angle steel materials is designed: single class angle steel material list flows to, uses transfer chain and sideslip machine and tray to deposit the angle steel of corresponding class respectively, and control system control unloading truss robot 58 categorised pile up neatly, and different class angle steel materials are not mixed, and follow-up commodity circulation is categorised to concentrate the circulation of being convenient for. 2. The corner steel wire edge storage mode comprises the following steps: the conveying line and the buffer line of the traversing machine are matched with the short material storage tray 59 to replace a single driven tray for storage or manual material rack placement, so that the transfer requirements of angle steel materials of different categories are met, the tray switching time is shortened, and the equipment grafting rate is improved; according to the material classification process and the informatization system, intelligent angle steel material classification stacking is realized. 3. The short material storage tray 59 is adjustable in structure, meets the requirements of different angle steel width specifications, and one short material storage tray 59 can adapt to angle steel with various width specifications. 4. The triaxial truss is matched with the double-head magnetic attraction manipulator, so that angle steel can be conveniently and firmly grasped, and the communication interaction of material process information is realized between the control system of the blanking truss robot 58 and the upper computer system.

In the embodiments of the present invention, technical features that are not described in detail are all existing technologies or conventional technical means, and are not described herein.

Finally, it should be noted that: the above examples are only specific embodiments of the present invention, and are not intended to limit the scope of the present invention. Those skilled in the art will appreciate that: any person skilled in the art may modify or easily conceive of changes to the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention, and are intended to be included in the scope of the present invention.

Claims

1. The intelligent angle steel processing production line comprises an upper computer system and is characterized in that the upper computer system is electrically connected with an angle steel feeding system, an angle steel numerical control processing system, an angle steel corner cutting system and an angle steel discharging stacking system respectively, a discharge end of the angle steel feeding system is connected with a feed inlet of the angle steel numerical control processing system, a discharge end of the angle steel numerical control processing system is connected with a feed end of the angle steel corner cutting system, and the angle steel corner cutting system and the angle steel discharging stacking system are arranged side by side in parallel;

2. The intelligent angle steel processing production line according to claim 1, wherein the pressing conveying mechanism is installed on a pressing frame body, the pressing conveying mechanism comprises a pressing base, the pressing base is installed above the side of the pressing frame body, a pressing sliding plate which moves vertically is movably installed at the front end of the pressing base, a driven base is arranged at the front end of the pressing sliding plate, a plurality of roller bases which slide up and down are arranged at the front end of the driven base, a rotating pressing roller is arranged at the lower end of the roller base, two rows of cylindrical roller groups with positive V-shaped tops are arranged below the pressing roller, a sliding pushing base is arranged between the two rows of cylindrical roller groups, the upper end of the pushing base is rotatably connected with the right end of a pushing claw through a pin shaft, a first proximity switch is installed below the left pressing roller group, a position sensor is installed on the pressing frame body at the left side of the pressing cylinder, a lower part of the pressing cylinder is arranged below the pressing cylinder, a leftmost end of the connecting rod is connected with the pressing cylinder through a rotating connection, a damping roller is installed at the right end of the pushing claw, and a damping roller is installed at the right side of the connecting rod.

3. The intelligent angle steel processing production line according to claim 2, wherein the second traversing conveying mechanism is provided with a proximity switch, a two-stage positioning stop block and a positioning stop block cylinder.

4. The intelligent angle steel processing production line according to claim 3, wherein the laser angle cutting mechanism comprises a laser angle cutting machine and a swinging motor, the swinging motor is arranged on the triaxial truss, and the laser angle cutting machine is arranged at the end part of a swinging shaft of the swinging motor.

5. The intelligent angle steel processing production line according to claim 1, wherein the transverse moving feeding table comprises a plurality of parallel transverse moving feeding machines, the distance between every two adjacent transverse moving feeding machines is gradually reduced from left to right, the upper part of the transverse moving feeding machines is divided into a rear end feeding station and a front end unstacking station, a magnetic attraction block is arranged on the front end unstacking station, and a first sensor and a limit stop are arranged at the front part of the front end unstacking station.

6. The intelligent angle steel processing production line according to claim 5, wherein the first traversing conveying mechanism comprises a plurality of chain conveyors arranged in parallel, a conveying stop block is arranged at the front end of each chain conveyor, and a fourth sensor is arranged at the side of each conveying stop block.

7. The intelligent angle steel processing production line according to claim 6, wherein the magnetic turnover mechanism comprises a second turnover shaft, a turnover hand gripper and a reciprocating motor, the rotating shaft of the reciprocating motor is connected with the end part of the second turnover shaft through a motor reducer and a coupling, a plurality of turnover hand grippers are fixedly arranged on the second turnover shaft, and a fifth sensor and a sixth sensor are arranged on the side of the turnover hand gripper.

8. The intelligent angle steel processing production line according to claim 1, wherein the short material conveying line and the traversing machine comprise roller line supports, a vertically lifting roller line is movably arranged at the tops of the roller line supports, a plurality of cross translators are arranged at the right end sides of the roller line, the distances between the cross translators are gradually reduced from left to right, and a first-stage stop block and a second-stage stop block are arranged on the cross translators.

9. The intelligent angle steel processing production line according to claim 8, wherein the blanking truss robot comprises a pair of magnetic hand grips spaced at a certain interval; the short material storage tray comprises supporting columns distributed at four corners, two tray horizontal supporting beams are connected between two adjacent supporting columns, two parallel auxiliary supporting beams are connected at the middle positions of the two tray horizontal supporting beams in the length direction, a notch in the length direction is formed in the upper surface of each auxiliary supporting beam, the head of a bolt is slidably mounted in the notch, the screw end of the bolt penetrates through a bolt through hole in a flat plate to be screwed into a nut, and two ends of the flat plate are connected with fixing columns.

10. The production process method of the intelligent angle steel processing production line as claimed in claim 2, comprising the following steps:

11. The intelligent production line for angle steel processing production line according to claim 10, wherein the upper part of the transverse moving feeding table is divided into a rear end feeding station and a front end unstacking station, a magnetic attraction block is arranged on the front end unstacking station, in the step 1, an angle steel raw material pile is placed on the rear end feeding station of the transverse moving feeding table through an AGV trolley or a crane, the upper computer system controls the transverse moving feeding table to convey the angle steel raw material pile from the rear end feeding station to the front end unstacking station, a certain magnetic attraction force which does not affect the grabbing of angle steel is generated after the magnetic attraction block is electrified, the positioning of angle steel at the bottom is assisted when the angle steel is unstacked, and the movement of angle steel with multiple angle steel or angle steel at the bottom is avoided.

12. The production process method of the intelligent angle steel processing production line according to claim 10 is characterized in that in the step 4, a short material conveying line and a traversing mechanism are responsible for conveying and classifying angle steels which are less than 2.2 meters and need to be subjected to subsequent secondary processing, and angle steels which are less than 2.2 meters and can be directly put into storage are cached in a short material storage tray; one of the long material conveying line, the transverse moving machine I, the long material conveying line and the transverse moving machine II is responsible for classifying, stacking and storing the angle steel which is more than 2.2 meters and needs to be processed later, and the other one is responsible for classifying, stacking and storing the angle steel which is more than 2.2 meters and can be directly put into storage.