CN110814774B - A fully automatic angle steel processing device and processing method - Google Patents

A fully automatic angle steel processing device and processing method Download PDF

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Publication number
CN110814774B
CN110814774B CN201911081359.5A CN201911081359A CN110814774B CN 110814774 B CN110814774 B CN 110814774B CN 201911081359 A CN201911081359 A CN 201911081359A CN 110814774 B CN110814774 B CN 110814774B
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China
Prior art keywords
angle steel
punching
belt
conveying
guide
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CN201911081359.5A
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Chinese (zh)
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CN110814774A (en
Inventor
应益军
高立峰
杨发虎
赵高杰
王俊
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Ningbo Hongteng Precision Manufacturing Co ltd
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Ningbo Hongteng Precision Manufacturing Co ltd
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Priority to CN201911081359.5A priority Critical patent/CN110814774B/en
Publication of CN110814774A publication Critical patent/CN110814774A/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P23/00—Machines or arrangements of machines for performing specified combinations of different metal-working operations not covered by a single other subclass
    • B23P23/06—Metal-working plant comprising a number of associated machines or apparatus
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D28/00—Shaping by press-cutting; Perforating
    • B21D28/02—Punching blanks or articles with or without obtaining scrap; Notching
    • B21D28/04—Centering the work; Positioning the tools
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D28/00—Shaping by press-cutting; Perforating
    • B21D28/24—Perforating, i.e. punching holes
    • B21D28/243—Perforating, i.e. punching holes in profiles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D28/00—Shaping by press-cutting; Perforating
    • B21D28/24—Perforating, i.e. punching holes
    • B21D28/34—Perforating tools; Die holders
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
    • B21D43/02—Advancing work in relation to the stroke of the die or tool
    • B21D43/026—Combination of two or more feeding devices provided for in B21D43/04 - B21D43/18
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
    • B21D43/28—Associations of cutting devices therewith
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q41/00—Combinations or associations of metal-working machines not directed to a particular result according to classes B21, B23, or B24
    • B23Q41/02—Features relating to transfer of work between machines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
    • B23Q7/12—Sorting arrangements
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
    • Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Specific Conveyance Elements (AREA)
  • Press Drives And Press Lines (AREA)

Abstract

本发明公开了一种全自动角钢加工装置，包括一个抛丸机，一个用于对不同型号的角钢进行分流的分流平台，两个加工输送带，设于每条加工输送带的侧边的一个以上的冲切一体模具，一个以上的用于将加工输送带上的角钢输送到对应的冲切一体模具内的冲压输送机构，一个以上的用于摆放加工好的角钢的堆放机构，一个用于收集废料的废料收集系统，一个用于对各个组件进行通信并控制的设备控制器。这种全自动角钢加工装置和加工方法，通过设置分流平台，将不同型号的角钢进行分流输送给不同的冲切一体模具，可以加工多种型号的角钢，而且将角钢加工表面处理、运输、定尺切割、成品叠放、废料尾料收集集成在一起，提高了角钢的加工效率。

The present invention discloses a fully automatic angle steel processing device, including a shot blasting machine, a diversion platform for diverting different types of angle steels, two processing conveyor belts, one or more punching and cutting integrated dies arranged on the side of each processing conveyor belt, one or more stamping and conveying mechanisms for conveying the angle steels on the processing conveyor belts to the corresponding punching and cutting integrated dies, one or more stacking mechanisms for placing processed angle steels, a waste collection system for collecting waste materials, and a device controller for communicating and controlling various components. This fully automatic angle steel processing device and processing method can divert and convey different types of angle steels to different punching and cutting integrated dies by setting a diversion platform, and can process various types of angle steels, and integrates angle steel processing surface treatment, transportation, cut-to-length cutting, finished product stacking, and waste and tail material collection, thereby improving the processing efficiency of angle steels.

Description

Full-automatic angle steel processing device and processing method
Technical Field
The invention relates to the field of angle steel processing, in particular to a full-automatic angle steel processing device and a full-automatic angle steel processing method.
Background
Angle steel is widely used for various building structures and engineering structures, such as house beams, pipeline brackets, bridge beams, power transmission towers, hoisting and transporting machinery, ships, industrial furnaces, reaction towers, container frames, cable pit brackets, power piping, bus bar bracket installation, warehouse shelves and the like. In the actual production process of the angle steel, the angle steel needs to be cut off, cut, holed, bent and the like according to the actual application.
The existing angle steel processing production line has the following defects that on one hand, one production line can only process one type of angle steel basically, but the types of angle steel are various, different production lines are needed to be replaced when angle steel of different types is processed, on the other hand, the existing production line processes the surface treatment, fixed-length cutting and all separate processing of the angle steel, the production and processing efficiency of the angle steel is low, and the factory benefit is poor.
Disclosure of Invention
The invention aims to solve the defects of the prior art, and provides a full-automatic angle steel processing device and a full-automatic angle steel processing method which can process various types of angle steel and integrate angle steel processing surface treatment, transportation, fixed-length cutting, finished product stacking and waste tail material collecting.
In order to achieve the above object, the present invention provides a fully automatic angle steel processing device, comprising:
the shot blasting machine is used for treating the oxide layer on the surface of the angle steel;
The distribution platform is connected with the shot blasting machine and is used for distributing angle steel of different types;
The two processing conveying belts are used for conveying angle steel of the diversion platform;
the punching integrated dies are arranged on more than one side edge of each processing conveyor belt and are used for cutting the angle steel to a fixed extent and punching the side face;
The punching conveying mechanisms are used for conveying angle steel on the processing conveying belt into corresponding punching integrated dies;
The stacking mechanisms are used for stacking the angle steels processed by the corresponding punching integrated dies;
A waste collection system for collecting waste falling after punching of each punching integrated die;
And the controller is used for communicating and controlling equipment of the shot blasting machine, the diversion platform, the processing conveyor belt, the punching integrated die, the punching conveying mechanism, the angle steel stacking mechanism and the waste collection system.
The split-flow platform comprises a horizontal conveying frame, conveying rollers for conveying angle steel are uniformly distributed on the horizontal conveying frame, two supporting frames are symmetrically distributed on two sides of the horizontal conveying frame, two regulating rods which are arranged at the same height as the conveying rollers are respectively arranged at two ends of each supporting frame, each regulating rod is vertically distributed with the conveying direction of the angle steel, a first air cylinder is arranged below each regulating rod, one end of each regulating rod, which is far away from the conveying roller, is hinged on the supporting frame, more than two sliding rails which are arranged at the same height as the conveying rollers are further arranged above the horizontal conveying frame, each sliding rail is vertically distributed with the conveying direction of the angle steel, a first pushing block for pushing the angle steel from the conveying rollers to the regulating rods is further arranged on each sliding rail, two first belt pulleys which are respectively arranged at two ends of each sliding rail are arranged on one side of each sliding rail, a first belt for driving the corresponding first pushing block is arranged between the two first belt pulleys on the same sliding rail, and a first motor for driving each belt to rotate is further arranged on the side of any sliding rail;
each first pushing block is provided with a connecting sheet, the other end of each connecting sheet is connected with a corresponding first belt, the output shaft of each first motor is connected with a first driving belt, the other end of each first driving belt is connected with a first synchronous rotating shaft penetrating through each sliding rail, and a first belt pulley positioned at the same end with each first motor on each sliding rail is connected with the first synchronous rotating shaft;
the outer sides of the two supporting frames are respectively provided with a first robot for grabbing angle steel on the adjusting rod at the corresponding side.
The die-cutting integrated die comprises a stamping fixing table, wherein a stamping seat driven by a pneumatic mechanism is arranged above the stamping fixing table, the pneumatic mechanism is connected with a controller, two bosses are arranged below the stamping seat, an inverted V-shaped fixing clamp is connected below each boss through an elastic telescopic shaft, inverted V-shaped cutting heads are also arranged below the bosses on the left side, stamping mechanisms which are obliquely stamped on two sides of diagonal steel relative to the inverted V-shaped fixing clamp are respectively arranged between the two bosses, each stamping mechanism is provided with a stamping head which is obliquely arranged, the inverted V-shaped fixing clamp is provided with an avoidance through hole which is aligned with the stamping head and is convenient for the stamping head to penetrate, the stamping fixing table is provided with a stamping guide seat, the front side and the rear side of the stamping guide seat are provided with oblique stamping guide seats matched with the corresponding stamping mechanisms, the two stamping guide seats are arranged on the oblique stamping guide seats, two sides of the oblique stamping guide seats are provided with stamping guide grooves in mirror images, and the two stamping mechanisms are provided with L-shaped guide rods which can be clamped in the corresponding stamping guide grooves and can move downwards along the stamping guide grooves;
The center of the stamping inclined table top is provided with a triangular guide block, the outer side of the stamping mechanism is provided with a triangular guide groove which is parallel to the triangular guide block in an initial state and can enable the triangular guide block to slide downwards in an inclined manner during stamping;
The periphery of the stamping guide seat is provided with first guide holes, and the periphery of the lower surface of the stamping seat is provided with first guide rods matched with the first guide holes;
the left side of the stamping guide seat is provided with an L-shaped clamp holder which is oppositely arranged and used for clamping two sides of angle steel to be cut;
two opposite sensors which are symmetrically arranged and used for detecting angle steel in place are also arranged on the table top on the right side of the stamping fixing table.
The rear end of punching press fixed station is hollow structure, is equipped with the tailing extracting mechanism at the rear end of punching press fixed station, the tailing extracting mechanism is including fixing the tailstock installing support in punching press fixed station, the tailstock installing support is located waste material conveying branch area top, is equipped with on the tailstock installing support to press from both sides and gets the mechanism, press from both sides and get the mechanism and include vertical lift cylinder, horizontal lift cylinder and electro-magnet, the vertical lift cylinder is fixed on the tailstock installing support, is connected with on the piston rod of vertical lift cylinder horizontal lift cylinder, be connected with on the piston rod of horizontal lift cylinder and be stretched into the mould after being driven by the cylinder and take out the tailstock, put into after taking out waste material conveying branch area the electro-magnet.
Each stamping conveying mechanism comprises a transfer assembly, a fork leg assembly and a guide assembly;
The transfer assembly comprises a transfer fixing frame arranged on the side edge of a corresponding processing conveyor belt, more than two supporting plates which are arranged at equal height with the processing conveyor belt are arranged on the transfer fixing frame at intervals, more than two second pushing blocks used for pushing angle steel up from the processing conveyor belt to the supporting plates are arranged on the processing conveyor belt on the corresponding side, an infrared detection device used for detecting the angle steel in place is arranged on each second pushing block, each second pushing block is connected with a second cylinder, a bulge used for preventing the angle steel from sliding is arranged at one end, far away from the processing conveyor belt, of the more than two supporting plates, a second motor is further arranged on one side of the transfer fixing frame, the output shaft of the second motor is connected with a second transmission belt, the other end of the second transmission belt is connected with a second synchronous shaft penetrating through the supporting plates, two second belt pulleys respectively arranged on two ends of the corresponding supporting plates, the second belt pulleys on the supporting plates and the second motor at the same end are connected with the second synchronous shaft, a second belt is arranged between the two second belt pulleys of the same supporting plate, and the second belt is used for pushing angle steel;
the fork leg mechanism comprises a fork leg fixing frame, a fork leg rotating shaft is rotationally connected to the fork leg fixing frame, a third motor for driving the fork leg rotating shaft is arranged at one end of the fork leg fixing frame, more than one rotating shaft mounting frames are arranged on the fork leg fixing frame at intervals, a sleeve sleeved on the fork leg rotating shaft is fixedly connected to the upper end of each rotating shaft mounting frame, a first sprocket sleeved on the fork leg rotating shaft is fixedly arranged at the side edge of each sleeve, more than one swinging rod which is correspondingly arranged with the first sprocket is also arranged on the fork leg rotating shaft, one end of each swinging rod is fixed on the fork leg rotating shaft and rotates along with the fork leg rotating shaft, a fork leg is arranged at the side edge of the other end of each swinging rod, one end of each fork leg is rotationally connected with the swinging rod through a fixing shaft, the other end of each swinging rod is of a reverse V-shaped structure matched with the inner side face of an angle steel, and a second sprocket is fixed on the fixing shaft and connected with the first sprocket through a chain;
The guide assembly comprises a guide bracket, more than two guide wheels are rotatably connected to the guide bracket at intervals, a slide bar is arranged on the upper portion and the lower portion of the side edge of the guide bracket, a push rod fixing frame is slidably connected to the two slide bars, a push rod is arranged above the push rod fixing frame, a second push piece capable of pushing angle steel on the guide wheels to move towards a stamping fixing table is arranged on the push rod, a fixing plate is arranged below the push rod fixing frame, a fourth motor is arranged on the fixing plate, an output shaft of the fourth motor penetrates through the fixing plate and is connected with a pinion capable of sliding in the two slide bars, a rack horizontally arranged is arranged in the slide bar at the upper portion, the pinion is meshed with the rack, slide blocks with grooves are arranged on the upper portion and the lower portion of the fixing plate, and the upper slide blocks and the lower slide blocks are respectively slidably connected to the corresponding upper slide bar and the lower slide bar;
The fork foot of the fork foot mechanism and the inner side face of the angle steel are matched, the angle steel triangle is always kept upwards in the rotation process of the swing rod, the end of the fork foot, which is always upwards, can be attached to the inner side face of the angle steel in the supporting plate to jack up the angle steel when the swing rod rotates, and then the angle steel is conveyed to the guide wheel through the rotation of the swing rod.
The angle steel stacking mechanism comprises a discharging conveying belt connected with a discharging hole of the punching integrated die, a second robot and a stacking disc are arranged on the side edge of the discharging conveying belt, the second robot is used for grabbing and stacking angle steel from the discharging conveying belt onto the stacking disc, and the stacking disc is arranged on the finished product conveying belt.
The waste collection system comprises a waste collection box and a waste conveying total belt connected with the waste collection box, waste discharge ports of all punching integrated molds are connected with waste conveying sub-belts, and all the waste conveying sub-belts are connected with the waste conveying total belt.
The invention discloses a full-automatic angle steel processing method, which comprises the following steps:
Step A, conveying angle steel to be processed into a shot blasting machine for surface oxide layer treatment;
B, conveying the angle steel processed by the shot blasting machine to a conveying roller of a diversion platform, controlling a first pushing block to push the angle steel on the conveying roller to an adjusting rod on the corresponding side by a controller according to the model of the processed angle steel, then controlling a first cylinder below the adjusting rod on the corresponding side by the controller to lift up so that the adjusting rod is in an inclined state, and under the action of gravity, enabling no interval between adjacent angle steel, and controlling a first robot on the corresponding side to grab the angle steel on the adjusting rod onto a processing conveying belt on the corresponding side by the controller;
Step C, the controller controls the machining conveying belt to work, the angle steel is conveyed to a corresponding position beside a corresponding punching integrated die, then the controller controls the second cylinder to work to drive the second pushing block to push the angle steel onto the supporting plate, then the controller controls the second motor to work to drive the second belt to rotate, the first pushing piece on the second belt pushes the angle steel to one end of the supporting plate far away from the machining conveying belt, then the controller controls the third motor to work to drive the swinging rod to rotate, the angle steel is conveyed onto the guide wheel from the supporting plate by utilizing fork feet on the swinging rod, then the controller controls the fourth motor to work to drive the fixed plate to move, and the angle steel is conveyed into the punching fixed table from the guide wheel by utilizing the second pushing piece at the front end of the push rod on the fixed plate to be punched and cut;
The method comprises the steps that after angle steel is conveyed to a corresponding punching integrated die, a controller controls a pneumatic mechanism above a punching seat to work, after one end of the downward movement of the punching seat is away from the corresponding punching integrated die, a reverse V-shaped fixing clamp contacts with the angle steel to be punched to limit and fix the angle steel, meanwhile, the punching mechanism also contacts with an oblique punching guide seat, under the action of an elastic telescopic shaft, the punching seat can continuously move downwards, the punching mechanism moves downwards obliquely along a punching inclined table, a punching head on the punching mechanism punches the angle steel, meanwhile, a reverse V-shaped cutting tool bit arranged below a left boss cuts the angle steel in the downward movement process, synchronous punching and cutting of the angle steel are achieved, after one section of angle steel entering the die is punched, the controller controls a fourth motor to continuously work to drive the angle steel to continuously convey a certain length into the punching integrated die, and the punched angle steel is jacked onto a discharging conveying belt;
And E, conveying the angle steel punched by the punching integrated die to a grabbing position of a second robot through a discharging conveying belt, controlling the second robot to grab the processed angle steel from the discharging conveying belt by a controller, piling the angle steel on a piling disc, and conveying the piling disc full of angle steel out of a finished product conveying belt.
In the step D, the waste punched by the angle steel through the punching integrated die falls on a corresponding waste conveying sub-belt, and then is conveyed into a waste collecting box through a waste conveying total belt for collection and further treatment.
The full-automatic angle steel processing device and the full-automatic angle steel processing method have the technical effects that angle steels of different types are split and conveyed to different punching integrated dies by arranging the split platform, so that the angle steels of various types can be processed by one angle steel processing line, and the angle steel processing surface treatment, transportation, fixed-length cutting, finished product stacking and waste tail material collecting are integrated, so that the angle steel processing efficiency is improved.
Drawings
Fig. 1 is a schematic diagram of the connection structure of the shot blasting machine and the diversion platform of embodiment 1;
FIG. 2 is a schematic view showing the connection structure of the diverting mechanism and the processing conveyor belt of embodiment 1;
FIG. 3 is a schematic view showing the structure of the connection of the processing conveyer belt of example 1 with a punching integrated die;
FIG. 4 is an enlarged view at A in FIG. 3;
FIG. 5 is a schematic structural view of the diversion platform of embodiment 1;
FIG. 6 is an enlarged view at B in FIG. 5;
FIG. 7 is an enlarged view at C in FIG. 5;
Fig. 8 is a partial schematic structural view of the punch conveying mechanism of embodiment 1;
FIG. 9 is an enlarged view of FIG. 8 at D;
FIG. 10 is an enlarged view of FIG. 8 at E;
FIG. 11 is an enlarged view of F in FIG. 8;
FIG. 12 is an enlarged view at G in FIG. 8;
fig. 13 is a schematic structural view of a fixing frame, a fixing plate and a fourth motor of the guide assembly of embodiment 1;
Fig. 14 is a schematic view showing the connection structure of the guide assembly and the punching integrated die of embodiment 1;
Fig. 15 is a first structural schematic diagram of the punching integrated die of example 1;
fig. 16 is a schematic structural view of an inverted V-shaped fixing clip of embodiment 1;
fig. 17 is a second structural schematic diagram of the punching integrated die of example 1;
fig. 18 is a schematic view of a third structure of the punching integrated die of embodiment 1;
Fig. 19 is a fourth structural schematic diagram of the punching integrated die of embodiment 1;
FIG. 20 is a schematic view showing the construction of the angle iron stacking mechanism and the scrap collecting system of embodiment 1;
Fig. 21 is a schematic view of the structure of the punching die in example 1 without the punching fixing table;
fig. 22 is a schematic view of the internal structure of the press fixing table.
In the figure: the shot blasting machine comprises a shot blasting machine 1, a distribution platform 2, a horizontal conveying frame 2-1, a conveying roller 2-2, a supporting frame 2-3, an adjusting rod 2-4, a first cylinder 2-5, a sliding rail 2-6, a first pushing block 2-7, a first belt pulley 2-8, a first belt 2-9, a first motor 2-10, a connecting sheet 2-11, a first transmission belt 2-12, a first synchronous rotating shaft 2-13, a first robot 2-14, a processing conveying belt 3, a punching integrated die 4, a punching fixing table 4-1, a punching seat 4-2, a boss 4-3, an elastic telescopic shaft 4-4, a 'inverted V' -shaped fixing clamp 4-5, a 'inverted V' -shaped cutting tool bit 4-6, a punching mechanism 4-7, a punching head 4-8, an avoidance through hole 4-9 the device comprises a stamping guide seat 4-10, an oblique stamping guide seat 4-11, a stamping inclined table top 4-12, a stamping guide groove 4-13, an L-shaped guide rod 4-14, a triangular guide block 4-15, a triangular guide groove 4-16, a first guide hole 4-17, a first guide rod 4-18, an L-shaped clamp holder 4-19, an opposite-shooting sensor 4-20, a pneumatic mechanism 4-22, a stamping conveying mechanism 5, a middle rotation fixing frame 5-1, a supporting plate 5-2, a second push block 5-3, a second cylinder 5-4, a protrusion 5-5, a second motor 5-6, a second driving belt 5-7, a second synchronous shaft 5-8, a second belt pulley 5-9, a second belt 5-10, a first push plate 5-11, the device comprises, by weight, a fork foot fixing frame 5-12, a fork foot rotating shaft 5-13, a third motor 5-14, a rotating shaft mounting frame 5-15, a sleeve 5-16, a first sprocket 5-17, a swing rod 5-18, a fork foot 5-19, a fixed shaft 5-20, a second sprocket 5-21, a chain 5-22, a guide bracket 5-23, a guide wheel 5-24, a slide bar 5-25, a push rod fixing frame 5-26, a push rod 5-27, a second push plate 5-28, a fixing plate 5-29, a fourth motor 5-30, a pinion 5-31, a rack 5-32, a slide block 5-33, an infrared detection device 5-34, an angle steel stacking mechanism 6, a discharge conveyor belt 6-1, a second robot 6-2, a stacking tray 6-3, a finished product conveyor belt 6-4, a waste collection system 7, a waste collection box 7-1, a waste conveying total belt 7-2, a waste conveying sub-belt 7-3, a controller 8, a tail material mechanism 9, a tail mounting bracket 9-1, a vertical lifting cylinder 9-2, a horizontal lifting cylinder 9-3, and an electromagnet 9-4.
Detailed Description
The invention will be further described with reference to the drawings and examples.
Example 1:
as shown in fig. 1 to 22, the full-automatic angle steel processing device provided in this embodiment includes:
the shot blasting machine 1 is used for treating an oxide layer on the surface of the angle steel;
the distribution platform 2 is connected with the shot blasting machine 1 and is used for distributing angle steel of different types;
Two processing conveyor belts 3 for conveying angle steel of the diversion platform 2;
two punching integrated dies 4 are arranged on the side edge of each processing conveyor belt 3 and are used for cutting the angle steel to a fixed extent and punching the side face;
four stamping conveying mechanisms 5 for conveying the angle steel on the processing conveying belt 3 into the corresponding punching integrated die 4;
Four stacking mechanisms 6 for arranging and stacking the angle steel processed by the corresponding punching integrated die 4;
a scrap collecting system 7 for collecting scrap fallen after punching of each of the integral punching dies 4;
A controller 8 for communicating and controlling the equipment with the shot blasting machine 1, the diversion platform 2, the processing conveyor belt 3, the punching integrated die 4, the punching conveyor 5, the angle steel stacking mechanism 6 and the waste collection system 7.
The shunt platform 2 comprises a horizontal conveying frame 2-1, conveying rollers 2-2 for conveying angle steel are uniformly distributed on the horizontal conveying frame 2-1, two supporting frames 2-3 are symmetrically distributed on two sides of the horizontal conveying frame 2-1, two regulating rods 2-4 which are arranged at the same height as the conveying rollers 2-2 are respectively arranged at two ends of each supporting frame 2-3, each regulating rod 2-4 is vertically distributed with the conveying direction of the angle steel, a first air cylinder 2-5 is arranged below each regulating rod 2-4, one end of each regulating rod 2-4 far away from the conveying roller 2-2 is hinged on the supporting frame 2-3, three sliding rails 2-6 which are arranged at the same height as the conveying rollers 2-2 are also arranged above the horizontal conveying frame 2-1, the middle sliding rail 2-6 is arranged at the middle position of the horizontal conveying frame 2-1, the other two sliding rails are symmetrically arranged on two sides of the middle sliding rail respectively, each sliding rail 2-6 is vertically distributed with the conveying direction of the angle steel, a first sliding rail 2-5 is arranged on each sliding rail 2-6 for pushing angle steel from the conveying roller 2-2 to the first sliding rail 2-4, a first belt pulley 2-8 is arranged on the first sliding rail 2-6 and a second belt pulley 2-8 is arranged between the two first sliding rails 2-8-6 and two first belt pulleys 2-8-6 and two belt pulleys 2-8 are respectively arranged on the first belt pulleys 2-6 and two first belt pulleys 2-6 and the first belt pulleys 2-6 are respectively arranged between the two first belt pulleys 2-4 and the first belt pulleys 2 and the belt 2 and the second belt 2 are respectively 2 belt 2 are respectively. The side surface of the middle sliding rail 2-6 is also provided with a first motor 2-10 for driving each belt 2-9 to rotate;
Each first pushing block 2-7 is provided with a connecting sheet 2-11, the other end of each connecting sheet 2-11 is connected with a corresponding first belt 2-9, an output shaft of each first motor 2-10 is connected with a first driving belt 2-12, the other end of each first driving belt 2-12 is connected with a first synchronous rotating shaft 2-13 penetrating through each sliding rail 2-6, and a first belt pulley 2-8 on the same end with each first motor 2-10 on each sliding rail 2-6 is connected with the first synchronous rotating shaft 2-13;
the outer sides of the two support frames 2-3 are respectively provided with a first robot 2-14 for grabbing angle steel on the adjusting rod 2-4 at the corresponding side.
The punching integrated die 4 comprises a punching fixed table 4-1, a punching seat 4-2 driven by a pneumatic mechanism 4-22 is arranged above the punching fixed table 4-1, the pneumatic mechanism 4-22 is connected with a controller 8, two bosses 4-3 are arranged below the punching seat 4-2, a 'inverted V' -shaped fixed clamp 4-5 is connected below each boss 4-3 through an elastic telescopic shaft 4-4, a 'inverted V' -shaped cutting tool bit 4-6 is also arranged below the boss 4-3 at the left side, punching mechanisms 4-7 which are respectively arranged on two sides of diagonal steel opposite to the front side and the rear side of the 'inverted V' -shaped fixed clamp 4-5 and are respectively used for oblique punching, a punching head 4-8 which is obliquely arranged is arranged on each punching mechanism 4-7, a through hole 4-9 which is aligned with the punching head 4-8 and is convenient for the punching head 4-8 to penetrate is arranged on the 'inverted V' -shaped fixed clamp 4-5, a punching guide seat 4-10 is arranged on the punching fixed table 4-1, oblique guide seats 4-12 are arranged on the two sides of the punching guide seat 4-10 and are correspondingly arranged on the two sides of the punching guide seat 4-13, and the two oblique guide seats 4-12 are arranged on the two sides of the punching guide seat 4-13, the two sides of the stamping mechanism 4-7 are provided with L-shaped guide rods 4-14 which can be clamped in the corresponding stamping guide grooves 4-13 and can move downwards along the stamping guide grooves 4-13;
the center of the stamping inclined table top 4-12 is provided with a triangular guide block 4-15, the outer side of the stamping mechanism 4-7 is provided with a triangular guide groove 4-16 which is parallel to the triangular guide block 4-15 in the initial state and can enable the triangular guide block 4-15 to slide downwards in an inclined manner during stamping;
The periphery of the stamping guide seat 4-10 is provided with first guide holes 4-17, and the periphery of the lower surface of the stamping seat 4-2 is provided with first guide rods 4-18 matched with the first guide holes 4-17;
The left side of the stamping guide seat 4-10 is provided with an L-shaped clamp 4-19 which is arranged oppositely and used for clamping two sides of angle steel to be cut;
The table top on the right side of the stamping fixed table 4-1 is also provided with two opposite-shot sensors 4-20 which are symmetrically arranged and used for detecting angle steel in place, the two opposite-shot sensors 4-20 which are symmetrically arranged are utilized through the structural design, meanwhile, a die datum point is arranged on the left side of the stamping fixed table 4-1, namely a common limiting point or an induction sensor (not shown in the figure), then when the angle steel is slowly pushed to the die datum point by the pushing block 5-28, the distance between the front end face of the angle steel and the die datum point is obtained through the opposite-shot sensors 4-20 on the two sides of the front end face of the angle steel, the corresponding distance is determined through controlling a driving motor of the pushing rod, finally, the alignment of the front end face of the angle steel and the die datum point is realized, and finally the length of the angle steel is determined, so that the processing precision of the first finished product is ensured, and the process of obtaining the sensor and the data by the controller belongs to the conventional technology in the field.
In order to collect redundant tailings conveniently in the later stage, the rear end of the stamping fixed table 4-1 is of a hollow structure, a tailings taking mechanism 9 is arranged at the rear end of the stamping fixed table 4-1, the tailings taking mechanism 9 comprises a tailings mounting bracket 9-1 fixed in the stamping fixed table 4-1, the tailings mounting bracket 9-1 is positioned above the waste conveying belt 7-3, a clamping mechanism is arranged on the tailings mounting bracket 9-1, the clamping mechanism comprises a vertical lifting cylinder 9-2, a horizontal lifting cylinder 9-3 and an electromagnet 9-4, the vertical lifting cylinder 9-2 is fixed on the tailings mounting bracket 9-1, a piston rod of the vertical lifting cylinder 9-2 is connected with the horizontal lifting cylinder 9-3, and a piston rod of the horizontal lifting cylinder 9-3 is connected with the electromagnet 9-4 which can be driven by the cylinder and then extend into a die to take out the tailings, and the tailings are put into the waste conveying belt 7-3 after being taken out.
Because the size of finished angle steel is not fixed, for example 200mm,250mm or 300mm, and the size of the whole angle steel is 6000mm all the time, the tailings are generated after the angle steel is processed, a material taking device is needed for taking the tailings, when the material taking device is in operation, a controller controls the vertical lifting air cylinder 9-2 and the horizontal lifting air cylinder 9-3 to work, when a die is opened, the electromagnet 9-4 moves up and down through the vertical lifting air cylinder 9-2, the electromagnet 9-4 moves back and forth through the horizontal lifting air cylinder 9-3, finally the electromagnet 9-4 is pushed into the die, the electromagnet 9-4 is controlled to be electrified, and the electromagnet is electrified with magnetism, so that redundant tailings are sucked, and then the waste below a feeding belt is conveyed to the sub-belt 7-3, so that the later collection process is facilitated.
Each punching conveying mechanism 5 comprises a transfer assembly, a fork leg assembly and a guide assembly;
The transfer assembly comprises a transfer fixing frame 5-1 arranged on the side edge of the corresponding processing conveyer belt 3, four supporting plates 5-2 which are arranged at equal height with the processing conveyer belt 3 are arranged on the transfer fixing frame 5-1 at intervals, three second pushing blocks 5-3 used for pushing angle steel from the processing conveyer belt 3 to the supporting plates 5-2 are arranged on the processing conveyer belt 3 on the corresponding side, an infrared detection device 5-34 used for detecting the angle steel in place is arranged on each second pushing block (5-3), each second pushing block 5-3 is connected with a second cylinder 5-4, a bulge 5-5 used for preventing the angle steel from sliding is arranged at one end of the middle two supporting plates 5-2 away from the processing conveyer belt 3, a second motor 5-6 is further arranged on one side of the transfer fixing frame 5-1, an output shaft of the second motor 5-6 is connected with a second transmission belt 5-7, the other end of the second transmission belt 5-7 is connected with a second synchronous shaft 5-8 penetrating through the supporting plates 5-2, two second belt pulleys 5-9 respectively positioned at two ends of the corresponding supporting plates 5-2 are arranged on one side of the two middle supporting plates 5-2, the second belt pulleys 5-9 positioned at the same end of each supporting plate 5-2 as the second motor 5-6 are connected with the second synchronous shaft 5-8, a second belt 5-10 is arranged between the two second belt pulleys 5-9 of the same supporting plate 5-2, and a first pushing piece 5-11 for pushing angle steel is arranged on the second belt 5-10;
the fork leg mechanism comprises a fork leg fixing frame 5-12, a fork leg rotating shaft 5-13 is rotationally connected to the fork leg fixing frame 5-12, a third motor 5-14 for driving the fork leg rotating shaft 5-13 is arranged at one end of the fork leg fixing frame 5-12, four rotating shaft fixing frames 5-15 are arranged on the fork leg fixing frame 5-12 at intervals, a sleeve 5-16 sleeved on the fork leg rotating shaft 5-13 is fixedly connected to the upper end of each rotating shaft fixing frame 5-15, a first sprocket wheel 5-17 sleeved on the fork leg rotating shaft 5-13 is fixedly arranged at the side edge of each sleeve 5-16, four swinging rods 5-18 which are arranged corresponding to the first sprocket wheel 5-17 are also arranged on the fork leg rotating shaft 5-13, one end of each swinging rod 5-18 is fixed on the fork leg rotating shaft 5-13 and rotates along with the fork leg rotating shaft 5-13, one end of each fork leg 5-19 is rotationally connected with a fixed shaft 5-18 through one 5-20, the other end of each fork leg 5-19 is matched with the inner side face of an angle steel, and a second sprocket wheel 5-17 is fixedly connected to a first sprocket wheel 5-21 'through a second sprocket wheel 5-21' and a fixed shaft;
The guide assembly comprises a guide bracket 5-23, a plurality of guide wheels 5-24 are rotatably connected to the guide bracket 5-23 at intervals, a sliding bar 5-25 is arranged on the upper side and the lower side of the guide bracket 5-23, a push rod fixing frame 5-26 is connected in a sliding manner in the two sliding bars 5-25, a push rod 5-27 is arranged above the push rod fixing frame 5-26, a second push plate 5-28 capable of pushing angle steel on the guide wheels 5-24 to move towards a stamping fixing table 4-1 is arranged on the push rod 5-27, a fixing plate 5-29 is arranged below the push rod fixing frame 5-26, a fourth motor 5-30 is arranged on the fixing plate 5-29, an output shaft of the fourth motor 5-30 penetrates through the fixing plate 5-29 and is connected with a pinion 5-31 capable of sliding in the two sliding bars 5-25, a horizontally arranged rack 5-32 is arranged in the sliding bar 5-25 on the upper part, the pinion 5-31 is meshed with the rack 5-32, and the upper sliding bar 5-33 and the lower sliding bar 5-33 are respectively arranged on the upper sliding bar and the lower sliding bar 5-33 of the fixing plate;
The end of the fork leg 5-19 matched with the inner side surface of the angle steel of the fork leg mechanism is always upwards in the rotating process of the swing rod 5-18, the end of the fork leg 5-19 always upwards can be attached to the inner side surface of the angle steel on the supporting plate to jack up the angle steel when the swing rod 5-18 rotates, and then the angle steel is conveyed to the guide wheel 5-24 through the rotation of the swing rod 5-18 (the principle that one end of the fork leg always upwards is that the first chain wheel 5-17 is fixed and cannot rotate, the fork leg 5-19 and the second chain wheel 5-21 are fixed together along with the fixed shaft 5-20, and in the rotating process of the swing rod 5-18, when the initial position of the fork leg 5-19 is adjusted upwards, the fork leg 5-19 and the swing rod 5-18 always keep the same in a rotating angle under the action of a chain, and the rotating direction is opposite, so that one end of the fork leg 5-19 can always keep upwards).
The angle steel stacking mechanism 6 comprises a discharging conveying belt 6-1 connected with a discharging hole of the punching integrated die 4, a second robot 6-2 and a stacking disc 6-3 are arranged on the side edge of the discharging conveying belt 6-1, the second robot 6-2 is used for grabbing and stacking angle steel from the discharging conveying belt 6-1 to the stacking disc 6-3, and the stacking disc 6-3 is arranged on the finished product conveying belt 6-4.
The waste collection system 7 comprises a waste collection box 7-1 and a waste conveying total belt 7-2 connected with the waste collection box 7-1, waste discharge ports of all the punching integrated molds 4 are connected with waste conveying sub-belts 7-3, and all the waste conveying sub-belts 7-3 are connected with the waste conveying total belt 7-2.
In order to realize the automatic control of each mechanism in the production line, the start of the processing conveyer belt 3, the first motor 2-10, the first cylinder 2-5, the first robot 2-14, the pneumatic mechanism 4-22, the second cylinder 5-4, the second motor 5-6, the third motor 5-14, the fourth motor 5-30, the discharging conveyer belt 6-1, the second robot 6-2, the product conveyer belt 6-4, the waste conveyer total belt 7-2 and the waste conveyer belt 7-3 are controlled by the controller 8, and the selection and control methods of the controller model belong to the prior art means and are not described in detail.
The method comprises the specific working principle that a processing conveyer belt on the left side and a processing conveyer belt on the right side are respectively called a first conveyer belt and a second conveyer belt, two punching integrated dies on the side edge of the first conveyer belt are called a die A and a die B, two punching integrated dies beside the second conveyer belt are called a die C and a die D, a die A, B, C, D is respectively used for correspondingly processing A, B, C, D angle steel of four types, and the four punching integrated dies are different in punching angle steel types or punching sizes, shapes and positions, and one punching integrated die is arranged according to requirements;
Taking angle steel of type A as an example: firstly, angle steel of the A type is sent into a shot blasting machine 1 to process a surface oxide layer, the processed angle steel is sent to a conveying roller 2-2 of a diversion platform 2, a first pushing block 2-7 on a sliding rail 2-6 can be controlled by a controller 8 to slide to the right side of the sliding rail 2-6 in advance, when the angle steel is supplied to be conveyed, the controller 8 controls the first pushing block 2-7 to slide to the left side to push the angle steel to an adjusting rod 2-4 on the left side, then the controller 8 controls a first robot 2-14 to grab the angle steel onto a nail conveying belt, then the controller 8 controls the nail conveying belt to work to drive the angle steel to move to a stamping conveying mechanism 5 beside a die, after an infrared detection device 5-34 on a second pushing block 5-3 detects that the angle steel is in place, the controller 8 controls the second air cylinder 5-4 at the corresponding position to work to drive the second pushing block 5-3 to push the angle steel onto the supporting plate 5-2, then the controller 8 controls the second motor 5-6 to work to drive the second belt 5-10 to rotate, the first pushing piece 5-11 on the second belt 5-10 pushes the angle steel onto one end of the supporting plate 5-2 far away from the processing conveying belt 3, then the controller 8 controls the third motor 5-14 to work to drive the swinging rod 5-18 to rotate, the fork feet 5-19 on the swinging rod 5-18 are used for conveying the angle steel from the supporting plate 5-2 onto the guide wheel 5-24, then the controller 8 controls the fourth motor 5-30 to work to drive the fixed plate 5-29 to move, the angle steel is fed into the punching fixing table 4-1 from the guide wheel 5-24 by utilizing the second push piece 5-28 at the front end of the push rod 5-27 on the fixing plate 5-29, after the angle steel enters the punching fixing table 4-1, the controller 8 controls the pneumatic mechanism 4-22 above the punching seat 4-2 to work, after the punching seat 4-2 moves downwards for a certain distance, the inverted V-shaped fixing clamp 4-5 is in contact with the angle steel to be punched to limit and fix the angle steel, meanwhile, the punching mechanism 4-7 is also in contact with the oblique punching guide seat 4-11, the punching seat 4-2 can move downwards continuously under the action of the elastic telescopic shaft 4-4, the punching mechanism moves downwards along the oblique punching inclined table 4-12, the punching head 4-8 on the punching mechanism punches the angle steel, and the inverted V-shaped cutting bit 4-6 below the boss 4-3 on the left side cuts the angle steel in the downward moving process, so that the angle steel is synchronous and cut (the inverted V-shaped cutting bit 4-6 is needed to be described in the process: when the angle steel is pushed into the die for the first time, only punching is carried out, when the angle steel is pushed into the set length again, the punched angle steel is pushed to the left side of the inverted V-shaped cutting tool bit, when the punching mechanism works again, the punching and the cutting are carried out simultaneously, the processing efficiency of the angle steel can be greatly improved, the angle steel punched by the punching integrated die is sent to the grabbing position of the second robot 6-2 through the discharging conveyor belt 6-1, the controller controls the second robot 6-2 to grab the processed angle steel from the discharging conveyor belt 6-1 and then pile the angle steel on the pile disc 6-3, the pile disc 6-3 for piling up the full angle steel is conveyed out by the finished product conveying belt 6-4.
The full-automatic angle steel processing method of the embodiment comprises the following steps:
step A, angle steel to be processed is sent into a shot blasting machine 1 to be subjected to surface oxide layer treatment;
Step B, conveying the angle steel processed by the shot blasting machine 1 to a conveying roller 2-2 of a diversion platform 2, according to the model of the processed angle steel, controlling a first pushing block 2-7 by a controller 8 to push the angle steel on the conveying roller 2-2 to an adjusting rod 2-4 on the corresponding side, then controlling a first cylinder 2-5 below the adjusting rod 2-4 on the corresponding side by the controller 8 to lift up so that the adjusting rod 2-4 is in an inclined state, under the action of gravity, no interval exists between adjacent angle steel, and at the moment, giving an instruction to a first robot 2-14 on the corresponding side by the controller 8 to control the first robot 2-14 to grab the angle steel on the adjusting rod 2-4 to a processing conveying belt 3 on the corresponding side;
The controller controls the machining conveyer belt 3 to work, the angle steel is conveyed to the side of the corresponding punching integrated die 4, after the infrared detection device 5-34 on the second push block 5-3 detects that the angle steel is in place, the controller 8 controls the second air cylinder 5-4 to work to drive the second push block 5-3 to push the angle steel to the supporting plate 5-2, then the controller 8 controls the second motor 5-6 to work to drive the second belt 5-10 to rotate, the first push piece 5-11 on the second belt 5-10 pushes the angle steel to one end of the supporting plate 5-2 far away from the machining conveyer belt 3, then the controller 8 controls the third motor 5-14 to drive the swing rod 5-18 to rotate, the angle steel is conveyed to the guide wheel 5-24 from the supporting plate 5-2 by using the fork legs 5-19 on the swing rod 5-18, then the controller 8 controls the fourth motor 5-30 to drive the fixed plate 5-29 to move, and the angle steel is conveyed to the guide wheel 5-24 from the guide wheel 4 to the inside by using the second push piece 5-28 at the front end of the fixed plate 5-27 to be fixed in the punching cutting table 1;
Step D, after the angle steel is conveyed into the corresponding punching integrated die 4, the controller 8 controls the pneumatic mechanism 4-22 above the punching seat 4-2 to work, after one end of the downward movement of the punching seat 4-2 is away from the other end, the inverted V-shaped fixing clamp 4-5 contacts the angle steel to be punched to limit and fix the angle steel, meanwhile, the punching mechanism 4-7 contacts the oblique punching guide seat 4-11, the punching seat 4-2 can continuously move downwards under the action of the elastic telescopic shaft 4-4, the punching mechanism moves downwards obliquely along the punching inclined table top 4-12, the punching head 4-8 on the punching mechanism punches the angle steel, and the inverted V-shaped cutting tool bit 4-6 below the boss 4-3 arranged on the left side cuts the angle steel in the downward movement process, so that synchronous punching and cutting of the angle steel are realized;
And E, conveying the angle steel punched by the punching integrated die to a grabbing position of a second robot 6-2 through a discharging conveying belt 6-1, controlling the second robot 6-2 to grab the processed angle steel from the discharging conveying belt 6-1, piling up the angle steel on a piling disc 6-3, and conveying the piling disc 6-3 filled with the angle steel out through a finished product conveying belt 6-4. In step D, the waste punched from the angle steel by the integral punching die 4 falls onto the corresponding waste conveying belt 7-3, and then is conveyed into the waste collecting box 7-1 by the total waste conveying belt 7-2 for collection and further treatment.

Claims (8)

1.一种全自动角钢加工装置，其特征是包括：1. A fully automatic angle steel processing device, characterized by comprising: 一个抛丸机（1），用于对角钢表面氧化层进行处理；A shot blasting machine (1) for treating the oxide layer on the surface of the angle steel; 一个与抛丸机（1）连接的分流平台（2），用于对不同型号的角钢进行分流；A diversion platform (2) connected to the shot blasting machine (1) for diverting angle steels of different sizes; 两个加工输送带（3），用于输送分流平台（2）的角钢；Two processing conveyor belts (3) for conveying angle steel of the diversion platform (2); 设于每条加工输送带（3）的侧边的一个以上的冲切一体模具（4），用于角钢定尺切断和侧面冲孔；One or more integrated punching and cutting dies (4) are arranged on the side of each processing conveyor belt (3) and are used for cutting the angle steel to a certain length and punching holes on the side; 一个以上的冲压输送机构（5），用于将加工输送带（3）上的角钢输送到对应的冲切一体模具（4）内；One or more punching and conveying mechanisms (5) for conveying the angle steel on the processing conveyor belt (3) to the corresponding punching and cutting integrated die (4); 一个以上的堆放机构（6），用于对对应的冲切一体模具（4）所加工的角钢进行堆放；One or more stacking mechanisms (6) for stacking the angle steels processed by the corresponding punching and shearing integrated dies (4); 一个废料收集系统（7），用于收集每个冲切一体模具（4）冲切后落下的废料；a waste collection system (7) for collecting waste dropped after each punching die (4); 一个控制器（8），用于与抛丸机（1）、分流平台（2）、加工输送带（3）、冲切一体模具（4）、冲压输送机构（5）、角钢堆放机构（6）和废料收集系统（7）进行通信并控制的设备；A controller (8) for communicating and controlling the shot blasting machine (1), the diversion platform (2), the processing conveyor belt (3), the punching and cutting integrated die (4), the punching and conveying mechanism (5), the angle steel stacking mechanism (6) and the waste collection system (7); 所述分流平台（2）包括一个水平输送架（2-1），在水平输送架（2-1）上均匀分布有用于输送角钢的输送辊（2-2），在水平输送架（2-1）两侧对称分布有两个支撑架（2-3），在每个支撑架（2-3）的两端分别设有一个与输送辊（2-2）等高布置的调节杆（2-4），每个调节杆（2-4）均与角钢的输送方向垂直分布，在每个调节杆（2-4）的下方均设有第一气缸（2-5），每个调节杆（2-4）远离输送辊（2-2）的一端铰接在支撑架（2-3）上，在水平输送架（2-1）的上方还设有两个以上与输送辊（2-2）等高布置的滑轨（2-6），每个滑轨（2-6）均与角钢的输送方向垂直分布，在每个滑轨（2-6）上还设有一个用于将角钢从输送辊（2-2）上推到调节杆（2-4）上的第一推块（2-7），在每个滑轨（2-6）的一侧设有两个分别位于滑轨（2-6）两端的第一皮带轮（2-8），在同一滑轨（2-6）上的两个第一皮带轮（2-8）之间设有用于驱动对应第一推块（2-7）的第一皮带（2-9），在任一滑轨（2-6）的侧面还设有用于驱动每个皮带（2-9）转动的第一电机（2-10）；The diversion platform (2) comprises a horizontal conveying frame (2-1), on which conveying rollers (2-2) for conveying angle steel are evenly distributed, and two support frames (2-3) are symmetrically distributed on both sides of the horizontal conveying frame (2-1), and at both ends of each support frame (2-3) there is respectively provided an adjustment rod (2-4) arranged at the same height as the conveying roller (2-2), and each adjustment rod (2-4) is arranged perpendicular to the conveying direction of the angle steel, and below each adjustment rod (2-4) there is provided a first cylinder (2-5), and one end of each adjustment rod (2-4) away from the conveying roller (2-2) is hinged on the support frame (2-3), and above the horizontal conveying frame (2-1) there are more than two adjustment rods (2-5). A slide rail (2-6) arranged at the same height as the conveying roller (2-2), each slide rail (2-6) being arranged perpendicular to the conveying direction of the angle steel, each slide rail (2-6) being provided with a first push block (2-7) for pushing the angle steel from the conveying roller (2-2) to the adjusting rod (2-4), two first belt pulleys (2-8) respectively located at two ends of the slide rail (2-6) being provided on one side of each slide rail (2-6), a first belt (2-9) for driving the corresponding first push block (2-7) being provided between the two first belt pulleys (2-8) on the same slide rail (2-6), and a first motor (2-10) for driving each belt (2-9) to rotate being provided on the side of any slide rail (2-6); 在每个第一推块（2-7）上均设有一个连接片（2-11），所述连接片（2-11）的另一端与对应的第一皮带（2-9）连接，所述第一电机（2-10）的输出轴连接有第一传动带（2-12），所述第一传动带（2-12）的另一端连接有贯穿各个滑轨（2-6）的第一同步转轴（2-13），每个滑轨（2-6）上与第一电机（2-10）位于同一端的第一皮带轮（2-8）均与第一同步转轴（2-13）连接；A connecting piece (2-11) is provided on each first push block (2-7), the other end of the connecting piece (2-11) is connected to the corresponding first belt (2-9), the output shaft of the first motor (2-10) is connected to the first transmission belt (2-12), the other end of the first transmission belt (2-12) is connected to a first synchronous rotating shaft (2-13) that passes through each slide rail (2-6), and the first pulley (2-8) on each slide rail (2-6) and located at the same end as the first motor (2-10) is connected to the first synchronous rotating shaft (2-13); 在两个支撑架（2-3）的外侧均设有用于抓取对应一侧的调节杆（2-4）上的角钢的第一机器人（2-14）。A first robot (2-14) for grabbing the angle steel on the adjustment rod (2-4) on the corresponding side is provided on the outer sides of the two support frames (2-3). 2.根据权利要求1所述的一种全自动角钢加工装置，其特征在于：所述冲切一体模具（4）包括一个冲压固定台（4-1），在冲压固定台（4-1）的上方设有由气动机构（4-22）驱动的冲压座（4-2），在冲压座（4-2）的下方设有两个凸台（4-3），在每个凸台（4-3）的下方通过弹性伸缩轴（4-4）连接有“∧”型固定夹具（4-5），在左侧的凸台（4-3）下方还设有 “∧”型切割刀头（4-6），在两个凸台（4-3）之间且相对于“∧”型固定夹具（4-5）的前后两侧均设有对角钢两边分别进行斜冲的冲压机构（4-7），每一个冲压机构（4-7）上设有倾斜设置的冲压头（4-8），在“∧”型固定夹具（4-5）上设有与冲压头（4-8）对齐并方便冲压头（4-8）贯穿的避让通孔（4-9），在冲压固定台（4-1）上设有冲压导向座（4-10），在冲压导向座（4-10）的前后两侧设有与对应的冲压机构（4-7）配合的斜冲导向座（4-11），在斜冲导向座（4-11）上设有冲压倾斜台面（4-12），在冲压倾斜台面（4-12）的两侧设有冲压导向槽（4-13），两个冲压导向槽（4-13）镜像设置，在冲压机构（4-7）的两侧设有能够卡到对应冲压导向槽（4-13）内并能够沿着冲压导向槽（4-13）向下移动的L型导向杆（4-14）；2. A fully automatic angle steel processing device according to claim 1, characterized in that: the punching and cutting integrated die (4) comprises a punching fixed platform (4-1), a punching seat (4-2) driven by a pneumatic mechanism (4-22) is provided above the punching fixed platform (4-1), two bosses (4-3) are provided below the punching seat (4-2), and a "∧"-shaped fixing fixture (4-5) is connected to the bottom of each boss (4-3) through an elastic telescopic shaft (4-4), and a "∧"-shaped fixing fixture (4-5) is also provided below the boss (4-3) on the left side. A "∧"-shaped cutting blade (4-6) is provided between two bosses (4-3) and on both sides of the front and rear sides relative to the "∧"-shaped fixing fixture (4-5), respectively, with punching mechanisms (4-7) for oblique punching on both sides of the diagonal steel, each punching mechanism (4-7) is provided with an inclined punching head (4-8), the "∧"-shaped fixing fixture (4-5) is provided with an avoidance through hole (4-9) which is aligned with the punching head (4-8) and facilitates the punching head (4-8) to pass through, a punching guide seat (4-10) is provided on the punching fixing platform (4-1), and a punching guide seat (4-11) is provided on the punching guide seat (4-12). An oblique punching guide seat (4-11) cooperating with a corresponding punching mechanism (4-7) is provided on both front and rear sides of the seat (4-10); a punching inclined table (4-12) is provided on the oblique punching guide seat (4-11); punching guide grooves (4-13) are provided on both sides of the punching inclined table (4-12); the two punching guide grooves (4-13) are arranged in a mirror image; and L-shaped guide rods (4-14) capable of being stuck in the corresponding punching guide grooves (4-13) and being capable of moving downward along the punching guide grooves (4-13) are provided on both sides of the punching mechanism (4-7); 在冲压倾斜台面（4-12）中心设有三角形导向块（4-15），在冲压机构（4-7）外侧设有初始状态下与三角形导向块（4-15）平行，当冲压时能够让三角形导向块（4-15）倾斜向下滑动的三角形导向槽（4-16）；A triangular guide block (4-15) is provided at the center of the stamping inclined table (4-12), and a triangular guide groove (4-16) is provided on the outside of the stamping mechanism (4-7) and is parallel to the triangular guide block (4-15) in an initial state and enables the triangular guide block (4-15) to slide downwardly when stamping. 在冲压导向座（4-10）的四周均设有第一导向孔（4-17），在冲压座（4-2）的下表面四周设有与第一导向孔（4-17）配合的第一导向杆（4-18）；First guide holes (4-17) are provided on all sides of the punching guide seat (4-10), and first guide rods (4-18) cooperating with the first guide holes (4-17) are provided on all sides of the lower surface of the punching seat (4-2); 在冲压导向座（4-10）的左侧设有对向设置并用于对需要切割的角钢两侧进行夹持的L型夹持器（4-19）；An L-shaped clamp (4-19) is arranged opposite to the left side of the punching guide seat (4-10) and is used to clamp the two sides of the angle steel to be cut. 在冲压固定台（4-1）右边的台面上还设有两个对称设置并用于检测角钢到位的对射传感器（4-20）。Two symmetrically arranged through-beam sensors (4-20) for detecting the angle steel being in place are also arranged on the table surface on the right side of the punching fixed table (4-1). 3.根据权利要求2所述的一种全自动角钢加工装置，其特征在于：所述冲压固定台（4-1）的后端为空心结构，在冲压固定台（4-1）的后端设有尾料取料机构（9），所述尾料取料机构（9）包括固定在冲压固定台（4-1）内的尾料安装支架（9-1），所述尾料安装支架（9-1）位于废料输送分带（7-3）上方，在尾料安装支架（9-1）上设有夹取机构，所述夹取机构包括垂直升降气缸（9-2）、水平升降气缸（9-3）和电磁铁（9-4），所述垂直升降气缸（9-2）固定在尾料安装支架（9-1）上，垂直升降气缸（9-2）的活塞杆上连接有所述水平升降气缸（9-3），水平升降气缸（9-3）的活塞杆上连接有能够被气缸驱动后伸入到模具中取出尾料，取出后放入废料输送分带（7-3）的所述电磁铁（9-4）。3. A fully automatic angle steel processing device according to claim 2, characterized in that: the rear end of the punching fixed platform (4-1) is a hollow structure, and a tailing material picking mechanism (9) is provided at the rear end of the punching fixed platform (4-1), and the tailing material picking mechanism (9) includes a tailing material mounting bracket (9-1) fixed in the punching fixed platform (4-1), and the tailing material mounting bracket (9-1) is located above the waste conveying belt (7-3), and a clamping mechanism is provided on the tailing material mounting bracket (9-1), so that The clamping mechanism comprises a vertical lifting cylinder (9-2), a horizontal lifting cylinder (9-3) and an electromagnet (9-4); the vertical lifting cylinder (9-2) is fixed on a tailing material mounting bracket (9-1); the piston rod of the vertical lifting cylinder (9-2) is connected to the horizontal lifting cylinder (9-3); the piston rod of the horizontal lifting cylinder (9-3) is connected to the electromagnet (9-4) which can be driven by the cylinder to extend into the mold to take out the tailing material and put it into the waste conveying belt (7-3) after taking it out. 4.根据权利要求1所述的一种全自动角钢加工装置，其特征在于：每个冲压输送机构（5）包括中转组件、叉脚组件和导向组件；4. A fully automatic angle steel processing device according to claim 1, characterized in that: each punching and conveying mechanism (5) comprises a transfer assembly, a fork foot assembly and a guide assembly; 所述中转组件包括设于对应加工输送带（3）的侧边的一个中转固定架（5-1），在中转固定架（5-1）上间隔设有两个以上与加工输送带（3）等高布置的支撑板（5-2），在对应一侧的加工输送带（3）上设有两个以上用于将角钢从加工输送带（3）上推到支撑板（5-2）上的第二推块（5-3），在每个第二推块（5-3）上均设有用于检测角钢到位的红外检测装置（5-34），每个第二推块（5-3）均连接有第二气缸（5-4），在两个以上的支撑板（5-2）远离加工输送带（3）的一端设有用于防止角钢滑落的凸起（5-5），在中转固定架（5-1）的一侧还设有第二电机（5-6），所述第二电机（5-6）的输出轴连接有第二传动带（5-7），所述第二传动带（5-7）的另一端连接有贯穿支撑板（5-2）的第二同步轴（5-8），在两个以上的支撑板（5-2）的一侧设有两个分别位于对应支撑板（5-2）两端的两个第二皮带轮（5-9），每个支撑板（5-2）上与第二电机（5-6）处于同一端的第二皮带轮（5-9）均与第二同步轴（5-8）连接，同一支撑板（5-2）的两个第二皮带轮（5-9）之间设有第二皮带（5-10），在第二皮带（5-10）上设有用于推动角钢的第一推片（5-11）；The transfer assembly comprises a transfer fixing frame (5-1) arranged on the side of the corresponding processing conveyor belt (3); two or more support plates (5-2) arranged at the same height as the processing conveyor belt (3) are arranged on the transfer fixing frame (5-1); two or more second push blocks (5-3) for pushing the angle steel from the processing conveyor belt (3) to the support plate (5-2) are arranged on the processing conveyor belt (3) on the corresponding side; each second push block (5-3) is provided with an infrared detection device (5-34) for detecting whether the angle steel is in place; each second push block (5-3) is connected to a second cylinder (5-4); a protrusion (5-5) for preventing the angle steel from sliding off is provided at one end of the two or more support plates (5-2) away from the processing conveyor belt (3); A second motor (5-6) is also provided on one side of the support plate (5-2); an output shaft of the second motor (5-6) is connected to a second transmission belt (5-7); the other end of the second transmission belt (5-7) is connected to a second synchronous shaft (5-8) penetrating the support plate (5-2); two second belt pulleys (5-9) are provided on one side of more than two support plates (5-2) and are respectively located at two ends of the corresponding support plates (5-2); the second belt pulleys (5-9) on each support plate (5-2) and located at the same end as the second motor (5-6) are connected to the second synchronous shaft (5-8); a second belt (5-10) is provided between the two second belt pulleys (5-9) of the same support plate (5-2); and a first push piece (5-11) for pushing the angle steel is provided on the second belt (5-10); 所述叉脚组件包括叉脚固定架（5-12），在叉脚固定架（5-12）上转动连接有一个叉脚转轴（5-13），在叉脚固定架（5-12）的一端设有驱动叉脚转轴（5-13）的第三电机（5-14），在叉脚固定架（5-12）上间隔设有一个以上的转轴安装架（5-15），每一个转轴安装架（5-15）的上端固定连接有套设在叉脚转轴（5-13）上的套管（5-16），在每一个套管（5-16）的侧边固定有套设在叉脚转轴（5-13）上的第一链轮（5-17），在叉脚转轴（5-13）上还设有一个以上与第一链轮（5-17）对应布置的摆杆（5-18），每个摆杆（5-18）的一端固定在叉脚转轴（5-13）上并随叉脚转轴（5-13）360°旋转，另一端侧边设有用于抓取角钢的叉脚（5-19），所述叉脚（5-19）的一端通过一根固定轴（5-20）与摆杆（5-18）转动连接，另一端为和角钢内侧面配合的“∧”型结构，在固定轴（5-20）上固定有第二链轮（5-21），所述第二链轮（5-21）通过链条（5-22）与第一链轮（5-17）连接；The fork foot assembly comprises a fork foot fixing frame (5-12), a fork foot rotating shaft (5-13) is rotatably connected to the fork foot fixing frame (5-12), a third motor (5-14) for driving the fork foot rotating shaft (5-13) is provided at one end of the fork foot fixing frame (5-12), more than one rotating shaft mounting frame (5-15) is arranged at intervals on the fork foot fixing frame (5-12), the upper end of each rotating shaft mounting frame (5-15) is fixedly connected to a sleeve (5-16) sleeved on the fork foot rotating shaft (5-13), a first sprocket (5-17) sleeved on the fork foot rotating shaft (5-13) is fixed on the side of each sleeve (5-16), and the first sprocket (5-17) sleeved on the fork foot rotating shaft (5-13) is fixed on the side of each sleeve (5-16). 3) is also provided with one or more swing rods (5-18) arranged corresponding to the first sprocket (5-17), one end of each swing rod (5-18) is fixed on the fork foot rotating shaft (5-13) and rotates 360 degrees with the fork foot rotating shaft (5-13), and the other end is provided with a fork foot (5-19) for grabbing the angle steel on the side, one end of the fork foot (5-19) is rotatably connected to the swing rod (5-18) through a fixed shaft (5-20), and the other end is a "∧"-shaped structure that matches the inner side surface of the angle steel, and a second sprocket (5-21) is fixed on the fixed shaft (5-20), and the second sprocket (5-21) is connected to the first sprocket (5-17) through a chain (5-22); 所述导向组件包括一个导向支架（5-23），在导向支架（5-23）上间隔转动连接有两个以上的导向轮（5-24），在导向支架（5-23）侧边的上下均设有一根滑条（5-25），在两根滑条（5-25）内滑动连接有推杆固定架（5-26），在推杆固定架（5-26）的上方设有推杆（5-27），在推杆（5-27）上设有能够推动导向轮（5-24）上的角钢往冲压固定台（4-1）移动的第二推片（5-28），在推杆固定架（5-26）的下方设有固定板（5-29），在固定板（5-29）上设有第四电机（5-30），所述第四电机（5-30）的输出轴贯穿固定板（5-29）并连接有能够在两根滑条（5-25）内滑动的小齿轮（5-31），在上部的滑条（5-25）内设有水平设置的齿条（5-32），所述的小齿轮（5-31）与齿条（5-32）啮合，且在固定板（5-29）的上下均设有带凹槽的滑块（5-33），上下的滑块（5-33）分别滑动连接在对应的上下两根滑条（5-25）上。The guide assembly comprises a guide bracket (5-23), on which two or more guide wheels (5-24) are rotatably connected at intervals, a slide bar (5-25) is provided on the upper and lower sides of the guide bracket (5-23), a push rod fixing frame (5-26) is slidably connected in the two slide bars (5-25), a push rod (5-27) is provided above the push rod fixing frame (5-26), a second push piece (5-28) is provided on the push rod (5-27) and is capable of pushing the angle steel on the guide wheel (5-24) to move toward the stamping fixed platform (4-1), and a push rod fixing frame (5-26) is provided below the push rod fixing frame (5-26). A fixed plate (5-29) is provided on the fixed plate (5-29), and a fourth motor (5-30) is provided on the fixed plate (5-29); an output shaft of the fourth motor (5-30) passes through the fixed plate (5-29) and is connected to a pinion (5-31) that can slide in two slide bars (5-25); a horizontally arranged rack (5-32) is provided in the upper slide bar (5-25); the pinion (5-31) meshes with the rack (5-32); and slide blocks (5-33) with grooves are provided on the upper and lower parts of the fixed plate (5-29); the upper and lower slide blocks (5-33) are respectively slidably connected to the corresponding upper and lower slide bars (5-25). 5.根据权利要求1所述的一种全自动角钢加工装置，其特征在于：所述角钢堆放机构（6）包括一个与冲切一体模具（4）的出料口连接的出料输送带（6-1），在出料输送带（6-1）的侧边设有第二机器人（6-2）和堆盘（6-3），所述第二机器人（6-2）用于将角钢从出料输送带（6-1）抓取堆放到堆盘（6-3）上，所述堆盘（6-3）置于成品输送带（6-4）上。5. A fully automatic angle steel processing device according to claim 1, characterized in that: the angle steel stacking mechanism (6) includes a discharge conveyor belt (6-1) connected to the discharge port of the punching and cutting integrated mold (4), and a second robot (6-2) and a stacking plate (6-3) are provided on the side of the discharge conveyor belt (6-1), and the second robot (6-2) is used to grab the angle steel from the discharge conveyor belt (6-1) and stack it on the stacking plate (6-3), and the stacking plate (6-3) is placed on the finished product conveyor belt (6-4). 6.根据权利要求1所述的一种全自动角钢加工装置，其特征在于：所述废料收集系统（7）包括一个废料收集箱（7-1）和与废料收集箱（7-1）连接一个废料输送总带（7-2），每一个冲切一体模具（4）的废料排出口均连接有废料输送分带（7-3），每个废料输送分带（7-3）均与废料输送总带（7-2）连接。6. A fully automatic angle steel processing device according to claim 1, characterized in that: the waste collection system (7) includes a waste collection box (7-1) and a waste conveyor belt (7-2) connected to the waste collection box (7-1), and each waste discharge outlet of the punching and cutting integrated mold (4) is connected to a waste conveyor belt (7-3), and each waste conveyor belt (7-3) is connected to the waste conveyor belt (7-2). 7.一种全自动角钢加工方法，包括采用权利要求1至6任一项所述的一种全自动角钢加工装置，其特征在于包括以下步骤：7. A fully automatic angle steel processing method, comprising using a fully automatic angle steel processing device according to any one of claims 1 to 6, characterized in that it comprises the following steps: 步骤A：将待加工的角钢送往抛丸机（1）内进行表面氧化层的处理；Step A: sending the angle steel to be processed into a shot blasting machine (1) to treat the surface oxide layer; 步骤B：经抛丸机（1）处理后的角钢被输送到分流平台（2）的输送辊（2-2）上，根据所加工角钢的型号，控制器（8）会控制第一推块（2-7）将输送辊（2-2）上的角钢推到对应一侧的调节杆（2-4）上，接着控制器（8）控制对应一侧的调节杆（2-4）下方的第一气缸（2-5）抬起使调节杆（2-4）处于一个倾斜的状态，在重力的作用下，相邻角钢之间没有间隔，此时控制器（8）给对应一侧的第一机器人（2-14）发出指令，控制第一机器人（2-14）将调节杆（2-4）上的角钢抓取到对应一侧的加工输送带（3）上；Step B: The angle steel processed by the shot blasting machine (1) is transported to the conveying roller (2-2) of the diversion platform (2). According to the type of the processed angle steel, the controller (8) controls the first push block (2-7) to push the angle steel on the conveying roller (2-2) onto the adjusting rod (2-4) on the corresponding side. Then, the controller (8) controls the first cylinder (2-5) below the adjusting rod (2-4) on the corresponding side to lift up so that the adjusting rod (2-4) is in an inclined state. Under the action of gravity, there is no gap between adjacent angle steels. At this time, the controller (8) sends a command to the first robot (2-14) on the corresponding side to control the first robot (2-14) to grab the angle steel on the adjusting rod (2-4) and put it on the processing conveyor belt (3) on the corresponding side. 步骤C：控制器控制加工输送带（3）工作，将角钢输送到对应冲切一体模具（4）旁，第二推块（5-3）上的红外检测装置（5-34）检测角钢到位后，控制器（8）控制第二气缸（5-4）工作带动第二推块（5-3）将角钢推到支撑板（5-2）上，随后控制器（8）控制第二电机（5-6）工作来带动第二皮带（5-10）的转动，第二皮带（5-10）上的第一推片（5-11）将角钢推到支撑板（5-2）远离加工输送带（3）的一端，接着控制器（8）控制第三电机（5-14）工作来带动摆杆（5-18）的转动，利用摆杆（5-18）上的叉脚（5-19）将角钢从支撑板（5-2）上输送到导向轮（5-24）上，随后控制器（8）控制第四电机（5-30）工作来带动固定板（5-29）移动，利用固定板（5-29）上的推杆（5-27）前端的第二推片（5-28）将角钢从导向轮（5-24）送入到冲压固定台（4-1）内进行冲压以及切割；Step C: The controller controls the processing conveyor belt (3) to work and conveys the angle steel to the side of the corresponding punching integrated die (4). After the infrared detection device (5-34) on the second push block (5-3) detects that the angle steel is in place, the controller (8) controls the second cylinder (5-4) to work and drive the second push block (5-3) to push the angle steel onto the support plate (5-2). Then, the controller (8) controls the second motor (5-6) to work and drive the second belt (5-10) to rotate. The first push piece (5-11) on the second belt (5-10) pushes the angle steel to the support plate (5-2) away from the processing conveyor belt ( 3), then the controller (8) controls the third motor (5-14) to work to drive the swing rod (5-18) to rotate, and the fork leg (5-19) on the swing rod (5-18) is used to transport the angle steel from the support plate (5-2) to the guide wheel (5-24), and then the controller (8) controls the fourth motor (5-30) to work to drive the fixed plate (5-29) to move, and the second push piece (5-28) at the front end of the push rod (5-27) on the fixed plate (5-29) is used to transport the angle steel from the guide wheel (5-24) to the stamping fixed table (4-1) for stamping and cutting; 步骤D：角钢输送到对应的冲切一体模具（4）后，此时控制器（8）控制冲压座（4-2）上方的气动机构（4-22）工作，冲压座（4-2）向下运动一端距离后， “∧”型固定夹具（4-5）与需要冲压的角钢接触对其进行限位固定，同时冲压机构（4-7）也与斜冲导向座（4-11）接触，在弹性伸缩轴（4-4）的作用下，冲压座（4-2）可以继续向下运动，此过程，冲压机构（4-7）沿着冲压倾斜台面（4-12）斜向下移动，冲压机构（4-7）上的冲压头（4-8）对角钢进行冲孔，同时设于左侧的凸台（4-3）下方的“∧”型切割刀头（4-6）在向下移动的过程中对角钢进行切割，进而实现对角钢的同步冲孔和切割，进入模具内的一段角钢冲切完成后，控制器（8）控制第四电机（5-30）继续工作带动角钢继续往冲切一体模具（4）内输送一定长度，冲切好的角钢被顶到出料输送带（6-1）上；Step D: After the angle steel is transported to the corresponding punching and cutting integrated die (4), the controller (8) controls the pneumatic mechanism (4-22) above the punching seat (4-2) to work, and the punching seat (4-2) moves downward a certain distance. The "∧"-shaped fixing fixture (4-5) contacts the angle steel to be punched to limit and fix it, and at the same time, the punching mechanism (4-7) also contacts the oblique punching guide seat (4-11). Under the action of the elastic telescopic shaft (4-4), the punching seat (4-2) can continue to move downward. During this process, the punching mechanism (4-7) moves obliquely downward along the punching inclined table (4-12), and the punching head (4-8) on the punching mechanism (4-7) punches the angle steel. At the same time, the "∧"-shaped cutting head (4-6) arranged below the boss (4-3) on the left side cuts the angle steel during the downward movement, thereby achieving synchronous punching and cutting of the angle steel. After a section of the angle steel entering the mold is punched and cut, the controller (8) controls the fourth motor (5-30) to continue working to drive the angle steel to continue to be transported to a certain length into the punching and cutting integrated mold (4), and the punched angle steel is pushed onto the discharge conveyor belt (6-1); 步骤E：由冲压一体模具冲切好的角钢经出料输送带（6-1）送到第二机器人（6-2）抓取的位置，控制器（8）控制第二机器人（6-2）将加工好的角钢从出料输送带（6-1）上抓取后堆放到堆盘（6-3）上，堆放满角钢的堆盘（6-3）再由成品输送带（6-4）输送出去。Step E: The angle steel punched by the integrated stamping die is sent to a position where the second robot (6-2) grabs the angle steel via the discharge conveyor belt (6-1). The controller (8) controls the second robot (6-2) to grab the processed angle steel from the discharge conveyor belt (6-1) and stack it on a stacking plate (6-3). The stacking plate (6-3) stacked with angle steel is then transported out by the finished product conveyor belt (6-4). 8.根据权利要求7所述的一种全自动角钢加工方法，其特征在于：在步骤D中，角钢经由冲切一体模具（4）冲裁掉的废料落到对应的废料输送分带（7-3）上，然后经废料输送总带（7-2）输送到废料收集箱（7-1）内进行收集和进一步处理。8. A fully automatic angle steel processing method according to claim 7, characterized in that: in step D, the waste material punched out by the punching and cutting integrated die (4) falls onto the corresponding waste conveying belt (7-3), and then is transported to the waste collection box (7-1) via the waste conveying main belt (7-2) for collection and further processing.
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