Disclosed is an automatic pipe feeding device comprising a rack, wherein a pipe storage table (1), at least one first feeding structure (2), at least one second feeding structure (3) and at least one pipe conveying structure (4) are installed on the rack; the first feeding structure (2) comprises a supporting rod (21), an overturning rod (22) and a first driving member (23); a limiting rod (5) is arranged between the first feeding structure (2) and the second feeding structure (3), and a containing opening (6) for just containing one pipe is provided between the limiting rod (5) and the pipe storage table (1); and the second feeding structure (3) comprises a lifting plate (31) used for lifting the pipe in the containing opening (6) and a second driving member (32) used for driving the lifting plate (31) to move up and down, the top end of the lifting plate (31) is of an inclined face inclining downwards, and the inclination direction of the inclined face is consistent with the overturning direction of the overturning rod (22). The feeding device has a rational structure and a high degree of automation.
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