CN120269226B - Automatic welding system and automatic welding method - Google Patents

Automatic welding system and automatic welding method

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Publication number
CN120269226B
CN120269226B CN202510581292.0A CN202510581292A CN120269226B CN 120269226 B CN120269226 B CN 120269226B CN 202510581292 A CN202510581292 A CN 202510581292A CN 120269226 B CN120269226 B CN 120269226B
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CN
China
Prior art keywords
shaped
station
assembly
fork
component
Prior art date
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Active
Application number
CN202510581292.0A
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Chinese (zh)
Other versions
CN120269226A (en
Inventor
齐金生
寇以撒
暴晓东
王保强
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Multidimensional Energy Saving New Materials Guangdong Co ltd
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Multidimensional Energy Saving New Materials Guangdong Co ltd
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Priority to CN202510581292.0A priority Critical patent/CN120269226B/en
Publication of CN120269226A publication Critical patent/CN120269226A/en
Application granted granted Critical
Publication of CN120269226B publication Critical patent/CN120269226B/en
Active legal-status Critical Current
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass
    • B23K37/04—Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass for holding or positioning work
    • B23K37/047—Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass for holding or positioning work moving work to adjust its position between soldering, welding or cutting steps

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  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Butt Welding And Welding Of Specific Article (AREA)
  • Automatic Assembly (AREA)

Abstract

The embodiment of the invention provides an automatic welding system, which comprises a turnover mechanism, a transmission mechanism and welding equipment, wherein the turnover mechanism is provided with a first station and a second station on one side of the first station, and the turnover mechanism can turn C-shaped purlines on the first station onto the second station. The conveying mechanism comprises a grabbing component which is arranged above the turnover mechanism and can transversely move and a conveying component which is arranged on one side of the turnover mechanism, wherein a stacking station is arranged on the conveying component, the grabbing component can grab C-shaped purlins on the first station to the stacking station, or the grabbing component can grab C-shaped purlins on the second station to stack the C-shaped purlins on the stacking station. The welding equipment corresponds to the transportation assembly, and can drive the stacked C-shaped purlines to move and weld. The turnover mechanism is in butt joint with manufacturing equipment of the C-shaped purlines, and the C-shaped purlines are directly transmitted to an automatic welding system after being manufactured, so that the C-shaped purlines can be automatically processed into welding assemblies after being produced, labor cost is saved, and efficiency is high.

Description

Automatic welding system and automatic welding method
Technical Field
The invention relates to the technical field of automatic welding equipment, in particular to an automatic welding system and an automatic welding method.
Background
The embracing welding assembly formed after embracing welding of the two C-shaped purlines has better stability, and can increase the cross-sectional area and the moment of inertia of the member, thereby improving the bending strength, the shearing strength and the compressive strength of the member. Therefore, the embracing welding assembly of the two C-shaped purlines is widely applied to the fields of large-scale mechanical equipment such as structural house construction, cranes, conveyors and the like.
The existing C-shaped purline embracing welding assembly is often manufactured by manually overturning the downstream C-shaped purline and then stacking the C-shaped purline on the upstream C-shaped purline, and finally manually welding the C-shaped purline embracing welding assembly, so that a large amount of manpower is consumed, the manual operation speed is limited, and the large-scale production requirement is difficult to meet.
Disclosure of Invention
In view of the above, embodiments of the present invention are provided, and an object of the embodiments of the present invention is to provide an automatic welding system that can automatically process C-shaped purlines into welding assemblies after production.
To achieve the purpose, the embodiment of the invention adopts the following technical scheme:
an automatic welding system, comprising:
The turnover mechanism is provided with a first station and a second station positioned at one side of the first station, and can turn the C-shaped purline on the first station to the second station;
The conveying mechanism comprises a grabbing component which is arranged above the turnover mechanism and can transversely move, and a conveying component which is arranged on one side of the turnover mechanism, wherein the conveying component is provided with a stacking station, the grabbing component can grab the C-shaped purline on the first station to the stacking station, or the grabbing component can grab the C-shaped purline on the second station to be stacked on the C-shaped purline on the stacking station, and
And the welding equipment corresponds to the transportation assembly and can drive the stacked C-shaped purlines to move and weld.
Alternatively, the turnover mechanism includes:
the device comprises a support frame, a moving assembly arranged on one side of the support frame and a turnover shifting fork assembly rotatably arranged in the center of the support frame;
The first station is positioned on the moving assembly, and the second station is positioned on the other side of the supporting frame;
the turnover shifting fork assembly at least has an original state, a clamping state and a placing state;
when in the original state, the overturning shifting fork component is positioned below the moving component;
when the C-shaped purline is in the clamping state, the overturning shifting fork component is positioned above the moving component and forms an acute angle with the moving component, and the C-shaped purline is clamped on the overturning shifting fork component;
When in the placing state, the C-shaped purline is clamped on the overturning shifting fork assembly and is positioned on the second station.
Optionally, the flip fork assembly includes:
the rotating shaft is rotatably arranged in the center of the supporting frame;
the plurality of first shifting forks are sleeved on the rotating shaft;
The second shifting forks are rotatably arranged on the rotating shaft;
the first shifting fork and the second shifting fork are positioned on two sides of the rotating shaft, and the first shifting fork is positioned in the moving assembly.
Optionally, the lengths of the first shifting fork and the second shifting fork are larger than the C-shaped purline and smaller than or equal to the width of the moving assembly.
Optionally, the turnover mechanism further includes:
a driving member with an output end connected with the rotating shaft, and
The output ends of the power groups are connected with the second shifting fork.
Optionally, the grabbing assembly includes:
The grabbing frame is arranged above the turnover mechanism and the transmission mechanism in a crossing manner;
a lifting assembly movably arranged on the grabbing frame, and
The movable claw group is arranged on the lifting assembly and is provided with an opening state and a closing clamping state.
Alternatively, the welding apparatus includes:
a transport assembly interfacing with the transport mechanism;
at least two alignment assemblies, one at each end of the transport assembly, and
And the welding guns are arranged on the alignment assembly far away from the transmission mechanism, the two welding guns are transversely arranged on two sides of the alignment assembly, and gun heads of the welding guns are aligned with gaps of the two stacked C-shaped purlines.
Alternatively, the welding gun can be moved up and down to the side of the alignment assembly away from the transport assembly.
Optionally, the alignment assembly includes:
The alignment plate is provided with an alignment hole in the center, the stacked C-shaped purlines penetrate through the alignment hole, and the lower hole wall of the alignment hole is lower than or flush with the bearing position of the conveying assembly;
The correction roller sets are respectively arranged on two sides of the correction hole in the transverse direction, and the two correction roller sets can move oppositely to be abutted with the C-shaped purlins or move backwards to be separated from the C-shaped purlins.
Alternatively, the correction roller set is located on a side of the alignment plate facing the transport assembly.
Alternatively, the collation roll set includes:
the movable plate can be transversely arranged at the side of the position correcting hole in a movable way;
A proofreading roller rotatably arranged on one side of the moving plate facing the proofreading hole, the proofreading roller can be abutted with the C-shaped purline, and
And the output end of the power piece is connected with the movable plate.
Alternatively, the shape of the moving plate is a circle.
Alternatively, the upper side of the aligning hole may be provided with the aligning roller group to be movable up and down.
Another object of the embodiments of the present invention is to provide an automatic welding method for manufacturing a C-shaped purline from a production process, which can be automatically processed into a welding assembly.
An automatic welding method, which is applied to the automatic welding system, comprises the following steps:
A first C-shaped purline moves to the first station, and the conveying mechanism moves the C-shaped purline to a stacking station;
The second C-shaped purline moves to the first station, and the turnover mechanism turns over the C-shaped purline to a second station;
the conveying mechanism moves the C-shaped purlines positioned at the second station to a first C-shaped purline to be stacked, and conveys the stacked C-shaped purlines to welding equipment;
The welding equipment drives the C-shaped purlines to move and weld the abutting positions of the two C-shaped purlines.
Optionally, the turnover mechanism comprises a turnover shifting fork assembly, the turnover shifting fork assembly comprises a rotating shaft which can be rotatably arranged, a first shifting fork sleeved on the rotating shaft and a second shifting fork which can be rotatably sleeved on the rotating shaft, and the first shifting fork and the second shifting fork are respectively positioned on two sides of the rotating shaft;
the tilting mechanism will be second C type purlin upset to the second station, include:
The first shifting fork drives the C-shaped purline on the first station to rotate to form an acute angle with the first station along a first direction;
the second shifting fork reversely rotates along the first direction to be abutted against the C-shaped purline, and the overturning shifting fork component is in a clamping state;
The first shifting fork and the second shifting fork rotate along a first direction at the same time until the C-shaped purline is positioned at the second station, and the overturning shifting fork component is in a placing state;
And the second shifting fork and the first shifting fork return to original positions, and the overturning shifting fork component is restored to an original state.
According to the technical scheme provided by the embodiment of the invention, the C-shaped purlines can be turned through the arrangement of the turning mechanism, the turning mechanism is in butt joint with manufacturing equipment of the C-shaped purlines, the C-shaped purlines can be directly transmitted to the turning mechanism after being manufactured, and when the C-shaped purlines of two adjacent C-shaped purlines are positioned at the first station of the turning mechanism, the grabbing component of the transmission mechanism can grab and move the C-shaped purlines positioned at the first station to the stacking station. When the C-shaped purline positioned at the second position is transmitted to the first station of the turnover mechanism, the turnover mechanism turns over the C-shaped purline to the second station, and the grabbing component of the transmission mechanism grabs and moves the C-shaped purline turned over on the second station to the upper side of the C-shaped purline stacked at the first position, so that stacking of two adjacent C-shaped purlines is realized. The stacked C-shaped purlines are transmitted to the welding equipment by the transmission mechanism, and the welding equipment can drive the stacked C-shaped purlines to move and weld so as to finish automatic embracing welding, manual participation is not needed in the process, automation is realized completely, labor cost is saved, efficiency is high, and welding quality is good.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of an automatic welding system according to an embodiment of the present invention;
Fig. 2 is a schematic structural diagram of a turnover mechanism and a transmission mechanism according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a welding apparatus according to an embodiment of the present invention;
fig. 4 is a schematic diagram of the front and back sides of an alignment assembly according to an embodiment of the invention.
In the figure:
1. The device comprises a turnover mechanism, 11, a support frame, 12, a moving assembly, 13, a turnover shifting fork assembly, 131, a rotating shaft, 132, a first shifting fork, 1321, a fork rod, 1322, a shaft sleeve, 133, a second shifting fork, 14, a driving piece, 15 and a power unit;
2. A transmission mechanism; 21, a grabbing component, 211, a grabbing frame, 212, a lifting component, 213, a movable claw set, 22, a conveying component, 221, a conveying frame, 222, a conveying roller, 223 and a power source;
3. Welding equipment, 31, conveying components, 311, conveying frames, 312, rotating rollers, 313, energy supply pieces, 32, aligning components, 321, aligning plates, 322, aligning roller sets, 3221, moving plates, 3222, aligning rollers, 3223, power pieces, 33 and welding guns.
Detailed Description
The inventor finds that the two C-shaped purlines (or C-shaped steel, which is exemplified by C-shaped purlines below) are usually stacked together manually before being welded manually, so that the stacking of the C-shaped purlines is difficult and the efficiency is low. In addition, the welding quality is uneven and cannot be ensured.
Accordingly, the present inventors have attempted to develop an automatic welding system that enables C-purlins to be automatically stacked and automatically welded into a welding assembly after production to ensure production efficiency and welding quality.
The invention is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings.
In the description of the present invention, unless explicitly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, and may, for example, be fixedly connected, detachably connected, or integrally formed, mechanically connected, electrically connected, directly connected, indirectly connected through an intervening medium, or in communication between two elements or in an interaction relationship between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
In the present invention, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.
In the description of the present embodiment, the terms "upper", "lower", "right", etc. orientation or positional relationship are based on the orientation or positional relationship shown in the drawings, and are merely for convenience of description and simplicity of operation, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the invention. Furthermore, the terms "first," "second," and the like, are used merely for distinguishing between descriptions and not for distinguishing between them.
Referring to fig. 1, an embodiment of the present application provides an automatic welding system, which includes a turnover mechanism 1, a transmission mechanism 2 and a welding device 3, wherein the turnover mechanism 1 has a first station and a second station located at one side of the first station, the turnover mechanism 1 can turn a C-shaped purline on the first station onto the second station, the transmission mechanism 2 includes a grabbing component 21 disposed above the turnover mechanism 1 and capable of being transversely moved, and a transportation component 22 located at one side of the turnover mechanism 1, the transportation component 22 has a stacking station, the grabbing component 21 can grab the C-shaped purline on the first station onto the stacking station, or the grabbing component 21 can grab the C-shaped purline on the second station and stack the C-shaped purline on the stacking station. The welding equipment 3 corresponds to the conveying assembly 22, and the welding equipment 3 can drive the stacked C-shaped purlines to move and weld. The turnover mechanism 1 is in butt joint with equipment for manufacturing C-shaped purlines, the C-shaped purlines can be directly transported to a first station of the turnover mechanism 1 after being manufactured, the grabbing component 21 grabs the C-shaped purlines on the first station to a stacking station, the turnover mechanism 1 overturns the C-shaped purlines to a second station after the C-shaped purlines are transported to the first station, and the grabbing component 21 grabs the overturned C-shaped purlines on the second station to the stacking station and stacks the C-shaped purlines on the last C-shaped purlines, so that stacking of the two C-shaped purlines is completed. The transmission mechanism 2 transports the two stacked C-shaped purlines to the welding equipment 3, and the welding equipment 3 drives the stacked C-shaped purlines to move and weld the stacked positions of the two C-shaped purlines so as to finish automatic holding welding of the two C-shaped purlines, thereby saving labor, having high efficiency and having even welding quality and high welding quality due to automatic welding.
In some embodiments of the present application, referring to fig. 1 to 2, a structure of a turnover mechanism 1 may be implemented, where the turnover mechanism 1 includes a support frame 11, a moving assembly 12 disposed on one side of the support frame 11, and a turnover fork assembly 13 rotatably disposed in the center of the support frame 11. The first station is located on the moving component 12, the second station is located on the other side of the supporting frame 11, the moving component 12 is in butt joint with equipment for manufacturing C-shaped purlines, and the manufactured C-shaped purlines can be directly moved onto the moving component 12. The upset shift fork subassembly 13 rotatable setting, upset shift fork subassembly 13 have at least the primitive state, press from both sides and get the state and place the state, and when being in the primitive state, upset shift fork subassembly 13 is located the below of moving assembly 12, and rotatory shift fork subassembly and the C type purlin that is located first station are contactless this moment, and snatch the C type purlin that the subassembly 21 can snatch and be located first station. When in a clamping state, the overturning shifting fork assembly 13 is positioned above the moving assembly 12 and forms an acute angle with the moving assembly 12, the C-shaped purline is clamped on the overturning shifting fork assembly 13, when the overturning shifting fork assembly 13 is switched from an original state to the clamping state, the overturning shifting fork assembly 13 is abutted with the C-shaped purline positioned on the first station along with the rotation of the overturning shifting fork assembly 13, and then the C-shaped purline on the first station is driven to move to form an acute angle with the first station and clamped on the overturning shifting fork assembly 13. When in a placing state, the C-shaped purline is clamped on the turnover shifting fork assembly 13 and is positioned on the second station, at the moment, the turnover work of the C-shaped purline is realized, and when the turnover shifting fork assembly 13 is switched from the clamping state to the placing state, the turnover shifting fork assembly 13 directly brings the C-shaped purline to rotate to the second station from an acute angle with the first station. When the C-shaped purline is clamped, the C-shaped purline is arranged to be clamped on the overturning shifting fork assembly 13, so that the position of the C-shaped purline can be limited, and the C-shaped purline is prevented from falling off the overturning shifting fork assembly 13 due to gravity in the process of driving the C-shaped purline to rotate by the follow-up overturning shifting fork assembly 13. When the overturning shifting fork assembly 13 is in a placing state, the C-shaped purline cannot shift due to the support of the second station, and at the moment, the overturning shifting fork assembly 13 can be restored to the original state, so that overturning of the C-shaped purline is completed.
Further, in some embodiments of the present application, referring to fig. 1-2, the turnover fork assembly 13 includes a rotating shaft 131, a first fork 132 and a second fork 133, wherein the rotating shaft 131 is rotatably disposed in the center of the supporting frame 11, the plurality of first forks 132 are uniformly spaced and sleeved on the rotating shaft 131, and the plurality of second forks 133 are uniformly spaced and rotatably disposed on the rotating shaft 131, that is, the first forks 132 and the second forks 133 are rotatable relative to each other. The first fork 132 and the second fork 133 are respectively located at two sides of the rotating shaft 131, and the first fork 132 is located in the moving assembly 12. When the turnover shifting fork assembly 13 is in an original state, an angle between the first shifting fork 132 and the second shifting fork 133 is larger than 180 degrees, and the first shifting fork 132 is positioned below the moving assembly 12 so as to ensure that the first shifting fork 132 cannot abut against the C-shaped purline at the first position. When the turning shifting fork is switched from the original state to the clamping state, the first shifting fork 132 rotates along the first direction to be abutted against the C-shaped purline and drives the C-shaped purline to rotate to form an acute angle with the moving assembly 12, and at the moment, the second shifting fork 133 rotates along the reverse direction of the first direction to be abutted against the C-shaped purline, so that the C-shaped purline is clamped on the turning shifting fork assembly 13. When the turnover shifting fork assembly 13 is switched from the clamping state to the placing state, the first shifting fork 132 and the second shifting fork 133 jointly rotate along the first direction until the C-shaped purline abuts against one side of the support clamp, which is away from the moving assembly 12. The C-shaped purline is supported at the second station, at this time, the first shifting fork 132 rotates to the moving assembly 12 along the reverse direction of the first direction and rotates to the initial position towards the lower side of the moving assembly 12, and the second shifting fork 133 continues to rotate to the lower side of the second station along the first direction, so that the turnover shifting fork assembly 13 is switched from the placing state to the original state.
In order to facilitate installation, bearing seats are usually disposed at two ends of the center of the supporting frame 11, bearings are disposed in the bearing seats, and two ends of the rotating shaft 131 are respectively disposed in the bearings at corresponding sides, so as to realize relative rotation of the rotating shaft 131 with respect to the supporting seat. If the extension line of the first fork 132 passes through the center line of the rotating shaft 131, when the turnover fork assembly 13 is in the original state, the end of the first fork 132 located at one side of the rotating shaft 131 is higher than the moving assembly 12, so that the first fork can interfere with the C-shaped purline. Therefore, referring to fig. 1-2, in some embodiments of the present application, the first fork 132 and the second fork 133 have the same shape, and the second fork 133 is illustrated as an example, and one possible structure of the second fork 133 includes a shaft sleeve 1322 and a fork rod 1321 located at one side of the shaft sleeve 1322, where the fork rod 1321 is tangential to the outer periphery of the shaft sleeve 1322 and located below the shaft sleeve 1322, so that when the turnover fork assembly 13 is in an original state, the fork rod 1321 is located below the moving assembly 12 and does not interfere with the moving assembly 12.
Further, in some embodiments of the present application, referring to fig. 1-2, the lengths of the first fork 132 and the second fork 133 are greater than the C-shaped purline and less than or equal to the width of the moving assembly 12. In order to ensure that the first shifting fork 132 can fully drive the C-shaped purlin to rotate, the problem that the first shifting fork 132 can not drive the C-shaped purlin to rotate is avoided appearing in the opening range that one end far away from the rotating shaft 131, which is caused by insufficient length of the first shifting fork 132, is located the C-shaped purlin.
It should be noted that, the length of the first fork 132 is approximately the same as the width of the moving assembly 12, even if the length of the first fork 132 is smaller than the width of the moving assembly 12, it is only required that the first fork 132 is not blocked by the supporting frame 11 during the rotation process.
In the process of driving the C-shaped purline to rotate, because the weight of the C-shaped purline is heavier, the friction force between the first shifting fork 132 and the second shifting fork 133 and the C-shaped purline is smaller than that of the C-shaped purline, so that the C-shaped purline can slide towards the direction of the rotating shaft 131 when rotating to a certain angle, and the C-shaped purline can impact the shaft sleeve 1322 of the first shifting fork 132 or the second shifting fork 133 along with the rotation, so that the shaft sleeve 1322 and the C-shaped purline are damaged. Therefore, in some embodiments of the present application, the sleeves 1322 of the first fork 132 and the second fork 133 are provided with anti-collision members, and the C-shaped purline collides with the anti-collision members when sliding along the first fork 132 or the second fork 133 when rotating to approximately 90 °, and the anti-collision members can absorb the collision to secure the C-shaped purline and the turnover fork assembly 13.
In some embodiments of the present application, referring to fig. 1-2, the supporting frame 11 includes a central longitudinal beam and frame bodies located at two sides of the central longitudinal beam, the moving assembly 12 includes a first driving roller and an actuator for providing power for the first driving roller, which are sequentially arranged on one side of the frame body in a rolling manner, the first station is an abutting surface of the first driving roller and the C-shaped purlin, the frame body on the other side is provided with a plurality of abutting cross beams at intervals, the abutting surface of the abutting cross beams is a second station, and the second station is level with the first station, so that the grabbing assembly 21 can conveniently adjust the lifting height during grabbing. The actuator and the plurality of first driving rollers may be connected by a belt or a chain to perform power output, so long as the actuator can drive the first driving rollers to rotate, the present application is not particularly limited.
In order to prevent the C-shaped purline from colliding with the supporting frame 11 when rotating to the second station and ensure the safety of the C-shaped purline and the supporting frame 11, in some embodiments of the present application, the second station is provided with a crash pad, which may be made of rubber or sponge, so long as the crash force can be buffered.
In some embodiments of the present application, referring to fig. 1 to 2, the turnover mechanism 1 further includes a driving member 14 and a power unit 15, wherein an output end of the driving member 14 is connected to a rotating shaft 131, and is capable of driving the rotating shaft 131 to drive the first shifting fork 132 to rotate. The output end of the power unit 15 is connected to the second shift fork 133 to drive the second shift fork 133 to rotate relative to the first shift fork 132. The driving member 14 may have an output end directly connected to the rotation shaft 131. One possible structure of the power pack 15 includes an energy supply member 313 and a transmission member, wherein an output end of the function member is connected with the transmission member, and the transmission member is connected with a shaft sleeve 1322 of the second fork 133 to drive the second fork 133 to rotate relative to the rotating shaft 131. The shaft sleeve 1322 of the second shift fork 133 may be provided with a sprocket, and the transmission member may be a chain, or the shaft sleeve 1322 of the second shift fork 133 may be provided with a belt pulley, and the transmission member may be a belt, so long as the transmission of power can be achieved, and the present application is not limited specifically.
In some embodiments of the present application, the grabbing component 21 includes a grabbing frame 211, a lifting component 212 and a moving claw set 213, where the grabbing frame 211 spans over the turnover mechanism 6 and the conveying mechanism 2, the lifting component 212 is movably disposed on the grabbing frame 211, the moving claw set 213 is disposed on the lifting component 212, and the lifting component 212 can drive the moving claw set 213 to move along the grabbing frame 211 from above the first station or the second station and above the stacking station. The movable gripper unit has an open state and a closed gripping state, and the lifting assembly 212 can drive the movable gripper unit 213 to move up and down so as to lower the movable gripper unit to the first station or the second station to grip the C-shaped purlins, or lower the movable gripper unit to the stacking station to place the C-shaped purlins at the stacking station. One structure of the grabbing frame 211 may be a movable cross beam above the overturning and moving mechanism and the conveying mechanism 2, a guide rail is arranged on the movable cross beam, a guide block matched with the guide rail is arranged on the lifting assembly 212, and the guide block is slidably arranged in the guide rail, so that the lifting assembly 212 can slide transversely along the cross beam. One possible structure of the lifting assembly 212 is that the lifting assembly 212 comprises a lifting longitudinal beam, a plurality of lifting sliding rods are arranged on the lifting longitudinal beam at intervals, penetrating holes are formed in the guide blocks, the lifting sliding rods are slidably penetrated in the penetrating holes, the lifting sliding rods are in one-to-one correspondence with the penetrating holes, and the lifting sliding rods slide in the penetrating holes to realize up-and-down movement of the lifting longitudinal beam. The movable claw group 213 includes a plurality of movable claws, and the plurality of movable claws are disposed on the lifting beam at intervals. Of course, the grabbing assembly 21 may also have other structures, for example, the lifting assembly 212 may use a lifting rope to lift the moving grabbing group, so long as the lifting assembly can lift the moving grabbing group 213, and the lifting assembly 212 can drive the moving grabbing group to move from above the first station and the stacking station.
In the embodiment of the present application, please refer to fig. 1-2, one possible structure of the transport assembly 22 is that the transport assembly comprises a transport frame 221, a plurality of transport rollers 222 and a power source 223, wherein the plurality of transport rollers 222 are arranged on the transport frame 221 at intervals, and the output end of the power source 223 is connected with the plurality of transport rollers 222, wherein the connection mode can be through a chain connection or a belt connection, as long as the transport rollers 222 can be driven to rotate, the application is not limited in particular. The face of the conveying roller 222 bearing the C-shaped purlines is a stacking station, when two C-shaped purlines are stacked on the stacking station, the power source 223 inputs power to the conveying rollers 222 to drive the conveying rollers 222 to rotate, and accordingly the stacked C-shaped purlines are driven to move towards the welding equipment 3.
In some embodiments of the present application, referring to fig. 1 to 3, the welding apparatus 3 includes a conveying component 31, at least two aligning components 32, and a welding gun 33, wherein the conveying component 31 is in butt joint with the conveying mechanism 2, two aligning components 32 are respectively disposed at two ends of the conveying component 31, and when the C-shaped purline moves on the conveying component 31, the aligning components 32 can limit the position of the C-shaped purline, so that the C-shaped purline moves along a straight line without distortion. The two sides of the alignment assembly 32 far away from the transmission mechanism 2 are respectively provided with a welding gun 33, gun heads of the welding guns 33 are aligned with gaps of the two stacked C-shaped purlins, the welding gun 33 can weld the gaps of the two C-shaped purlins in the moving process of the stacked C-shaped purlins, so that the welding of the two C-shaped purlins is completed, and in the process, the welding seam of the welding is uniform due to the fact that the conveying assembly 31 uniformly moves the C-shaped purlins, so that the welding quality can be ensured, and the appearance is attractive.
Specifically, in some embodiments of the present application, referring to fig. 3 to 4, the alignment assembly 32 includes an alignment plate 321 and a calibration roller set 322, wherein a calibration hole is formed in the center of the alignment plate 321, the stacked C-shaped purlins are inserted into the calibration hole, the lower hole wall of the calibration hole is lower than or flush with the supporting position of the conveying assembly 31, so as to avoid interference with movement of the stacked C-shaped purlins, and the calibration hole can perform coarse positioning restriction on the stacked C-shaped purlins, so as to avoid deformation or displacement of the stacked C-shaped purlins due to the high temperature of the welding gun 33 in the welding process. The two sides of the aligning hole are respectively provided with a aligning roller group 322, the two aligning roller groups 322 can move in opposite directions to be abutted with the stacked C-shaped purlines, so that the C-shaped purlines are subjected to fine positioning limitation, and the two aligning assemblies 32 are arranged to enable two ends of the stacked C-shaped purlines to be limited in the welding equipment 3 in the process of passing through the welding equipment 3, so that stability can be kept during welding, and good welding quality can be ensured.
With the stacked two C-purlins driven by the conveying assembly 31, if friction force is generated between the proofreading roller set 322 and the C-purlins, the movement of the C-purlins is hindered, so, referring to fig. 3 to 4, the proofreading roller set 322 in the embodiment of the application is in sliding contact with the stacked two C-purlins, so as to ensure the proofreading effect and avoid the influence of the friction force.
Specifically, in some embodiments of the present application, referring to fig. 3 to 4, one possible structure of the leveling roller set 322 is that the leveling roller set 322 includes a moving plate 3221, a leveling roller 3222 and a power member 3223, wherein the moving plate 3221 is movably disposed at a side of the leveling hole toward the leveling hole, the leveling roller 3222 is rotatably disposed at a side of the moving plate 3221 toward the leveling hole, the leveling roller 3222 is abutted with the C-shaped purlin, and an output end of the power member 3223 is connected with the moving plate 3221. The power element 3223 can drive the moving plate 3221 to move towards the direction of the aligning hole so as to enable the aligning roller 3222 to abut against the C-shaped purline, or drive the moving plate 3221 to move towards the direction away from the aligning hole, and after the aligning roller 3222 abuts against the C-shaped purline, the aligning roller 3222 rotates along with the movement of the C-shaped purline along with the conveying assembly 31, so that the limiting effect can be achieved, and the friction force between the aligning roller 3222 and the C-shaped purline can be reduced.
In order to avoid the influence of the deformation in the vertical direction, in some embodiments of the present application, the upper side of the aligning hole may be moved up and down by the aligning roller group 322, and the aligning roller 3222 located at the upper side may be moved up and down to compress or tighten the stacked C-shaped purlins.
It should be noted that when the stacked C-purlins do not pass through the aligning hole, the aligning roller sets 322 are located at sides far away from the aligning hole, and only after the C-purlins pass through the aligning hole, the aligning roller sets 322 move towards the C-purlins to abut against the C-purlins, so that interference of the C-purlins passing through the aligning hole is avoided.
In the welding process, the welding gun 33 generates high temperature, so heat dissipation is required, and if the welding gun 33 is arranged at a part gathering place, the heat dissipation effect is poor, therefore, as shown in fig. 3 to 4, in the embodiment of the application, the welding gun 33 and the calibration roller sets 322 of the calibration holes along the transverse direction vector are respectively arranged at two sides of the alignment plate 321, so that the problem of poor heat dissipation effect caused by part transition gathering is avoided.
Further, in some embodiments of the present application, referring to fig. 3 to 4, the welding gun 33 is disposed on the side of the alignment plate 321 away from the conveying component 31, and the welding gun 33 is not shielded during the welding process, so that an operator can observe the welding condition of the welding gun 33, which is beneficial to control of the quality of the welding seam. The aligning roller set 322 located above the aligning hole is located on the side of the moving plate 3221 far away from the conveying component 31, so that interference with the aligning roller set 322 on two lateral sides of the aligning hole can be avoided, and compared with the aligning roller set 322 arranged above on one side of the conveying component 31, the aligning roller 3222 arranged above is arranged on one side of the aligning plate 321 far away from the conveying component 31, and the stacked C-shaped purlins can be more limited in shape under the action of the aligning rollers 3222 arranged above on two ends of the conveying component 31.
The C-purlines have different types, and the heights of the C-purlines of different types are different, so that the positions of the gaps after stacking the C-purlines of different types are different, and the positions of the welding guns 33 are different. Therefore, in some embodiments of the present application, referring to fig. 3 to 4, the welding gun 33 may be slidably disposed on the aligned plate 321 along the vertical direction, and the position of the welding gun 33 may be adjusted by sliding along the vertical direction, so as to meet the welding requirements of different types of C-shaped purlins. The slidable structure of the welding gun 33 may be that a slide is provided on the welding gun 33, and a slide rail is provided on the alignment plate 321, and the slide is slidably provided in the slide rail, which may be any other structure, as long as the welding gun 33 can move up and down to adjust the position, and the present application is not limited specifically.
It should be noted that only the alignment assembly 32 on the side remote from the transport mechanism 2 is provided with the welding gun 33, while the alignment assembly 32 facing the transport mechanism 2 is not provided with the welding gun 33.
The alignment plate 321 plays a supporting role on the welding device 3 for the alignment roller set 322 and the welding gun 33, so that the higher the strength of the alignment plate 321 is, the better the strength is, therefore in some embodiments of the application, the shape of the alignment plate 321 is set to be round, compared with a rectangle, the round alignment plate 321 has higher symmetry and stability, and when the external force is applied, the external force is distributed more uniformly on the surface of the alignment plate 321, so that the shape and structural integrity can be better maintained.
In some embodiments of the application, please refer to fig. 3, the conveying assembly 31 includes a conveying frame 311, a plurality of rotating rollers 312 disposed on the conveying frame 311 at intervals, and an energy supply member 313 with an output end connected to the driving roller, where the energy supply member 313 can provide power for the driving roller to rotate, and the stacked C-shaped purlins are supported on the driving roller and move along the conveying frame 311 under the action of friction force with the driving roller. The connection manner between each driving roller and the functional member may be that the conveying assembly 31 further includes a plurality of sprockets and a chain, the output end of the functional member and the end portion of the driving roller are respectively sleeved with the sprockets, the chain is meshed with the plurality of sprockets to transmit the power of the energy supply member to each driving roller, or the power transmission may be realized through the combination of the belt and the belt pulley, so long as the power of the energy supply member 313 can be transmitted to each driving roller, and the application is not limited in particular.
The power element 3223, the driving element 14, the power source 223, the power supply element 313, and the actuator of the present application may be any motor such as a rotary motor or a moving motor, as long as the power element can provide power, and the present application is not particularly limited.
The embodiment of the application also provides an automatic welding method, which is to apply the automatic welding system to automatically weld the C-shaped purline. The automatic welding method comprises the following steps:
s10, moving a first C-shaped purline to a first station, and moving the C-shaped purline to a stacking station by a conveying mechanism 2;
S10, moving a second C-shaped purline to a first station, and overturning the C-shaped purline to the second station by using an overturning mechanism 1;
s30, the C-shaped purlines positioned at the second station are moved to be stacked on the first C-shaped purline by the transmission mechanism 2, and the stacked C-shaped purlines are transported to the welding equipment 3;
s40, the welding equipment 3 drives the C-shaped purlines to move and welds abutting seam gaps of the two C-shaped purlines.
In some embodiments of the present application, S10, the second C-shaped purline moves to the first station, and the turnover mechanism 1 turns the C-shaped purline to the second station, including:
s11, a first shifting fork 132 drives a C-shaped purline on a first station to rotate to form an acute angle with the first station along a first direction;
s12, the second shifting fork 133 rotates reversely along the first direction to be abutted against the C-shaped purline, the C-shaped purline is positioned between the first shifting fork 132 and the second shifting fork 133, and the overturning shifting fork assembly 13 is in a clamping state;
S13, the first shifting fork 132 and the second shifting fork 133 are rotated along the first direction until the C-shaped purline is placed on the second station, and the overturning shifting fork assembly 13 is in a placed state;
S14, the second shifting fork 133 and the first shifting fork 132 return to original positions, and the turnover shifting fork assembly 13 is restored to the original state.
After the first C-shaped purlin moves to the first station, or after the second C-shaped purlin overturns to the second station, the moving claw opens, the lifting longitudinal beam moves downwards along the penetrating hole to the moving claw to reach the grabbing position, the lifting longitudinal beam moves upwards along the penetrating hole after the moving claw grabs the C-shaped purlin until the C-shaped purlin is separated from the first station, the lifting component 212 moves transversely along the moving transverse beam to move the C-shaped purlin to the upper part of the stacking station, the lifting longitudinal beam moves downwards along the penetrating hole to the moving claw to place the first C-shaped purlin on the stacking station, or stacks the second C-shaped purlin on the first C-shaped purlin, and the lifting longitudinal beam moves upwards along the penetrating hole to be separated from the C-shaped purlin after the moving claw opens, so that the stacking process of two adjacent C-shaped purlins is completed. The transport rollers 222 on the transport assembly 22 are not rotated during this process and wait until the stacking of two adjacent C-purlins is completed before starting to rotate to transport the stacked two C-purlins to the welding apparatus 3.
When the stacked C-shaped purlins are sent to the welding device 3, in some embodiments of the present application, the welding device 3 drives the C-shaped purlins to move and weld the abutting seam of the two C-shaped purlins. Comprising the following steps:
s41, rotating a rotating roller 312 on the conveying assembly 31 to drive the stacked C-shaped purlins to pass through the aligning holes;
s42, the correction roller group 322 moves towards the C-shaped purline until the correction roller 3222 is abutted against the C-shaped purline and rotates in the moving process of the C-shaped purline;
s43, moving the welding gun 33 along the vertical direction, adjusting the position of the welding gun 33, aligning the gun heads of the welding gun 33 to the butt joint of the two overlapped C-shaped purlins, and starting the welding gun 33;
s44, conveying the C-shaped purlines to pass through the welding equipment 3 by driving the conveying assembly 31 so as to finish the welding.
It should be noted that the above-mentioned embodiments are merely for illustrating the technical solution of the present invention, and not for limiting the same, and although the present invention has been described in detail with reference to the above-mentioned embodiments, it should be understood by those skilled in the art that the technical solution described in the above-mentioned embodiments may be modified or some technical features may be equivalently replaced, and these modifications or substitutions do not make the essence of the corresponding technical solution deviate from the spirit and scope of the technical solution of the embodiments of the present invention.

Claims (10)

1.一种自动抱焊系统，其特征在于，包括：1. An automatic welding system, characterized in that it comprises: 翻转机构，具有第一工位以及位于所述第一工位一侧的第二工位，所述翻转机构可将所述第一工位上的C型檩条翻转至所述第二工位上；A flipping mechanism has a first station and a second station located on one side of the first station, the flipping mechanism can flip the C-shaped purlin on the first station to the second station; 传输机构，包括设于所述翻转机构上方可横移的抓取组件以及位于所述翻转机构一侧的运输组件，所述运输组件上具有叠放工位，所述抓取组件可抓取所述第一工位上的所述C型檩条至所述叠放工位上，或者，所述抓取组件可抓取所述第二工位上的所述C型檩条叠放于所述叠放工位上的所述C型檩条上；以及A transfer mechanism includes a gripping component that is laterally movable above the flipping mechanism and a transport component located on one side of the flipping mechanism. The transport component has a stacking station. The gripping component can grip the C-shaped purlins on the first station and place them on the stacking station; or, the gripping component can grip the C-shaped purlins on the second station and stack them on the C-shaped purlins on the stacking station. 焊接设备，对应于所述运输组件，所述焊接设备可带动叠放后的所述C型檩条移动并进行焊接；The welding equipment, corresponding to the transport component, can move the stacked C-shaped purlins and perform welding. 所述翻转机构包括：The flipping mechanism includes: 支撑架、设置于所述支撑架一侧的移动组件以及可转动设置于所述支撑架中央的翻转拨叉组件；A support frame, a movable component disposed on one side of the support frame, and a flip-up fork assembly rotatably disposed in the center of the support frame; 所述第一工位位于所述移动组件上，所述第二工位位于所述支撑架的另一侧；The first workstation is located on the moving component, and the second workstation is located on the other side of the support frame; 所述翻转拨叉组件至少具有原始状态、夹取状态以及放置状态；The flip fork assembly has at least an original state, a clamping state, and a placement state; 处于所述原始状态时，所述翻转拨叉组件位于所述移动组件的下方；In the original state, the flip fork assembly is located below the moving assembly; 处于所述夹取状态时，所述翻转拨叉组件位于所述移动组件的上方并与所述移动组件呈锐角，所述C型檩条夹设在所述翻转拨叉组件上；When in the clamping state, the flip fork assembly is located above the moving assembly and forms an acute angle with the moving assembly, and the C-shaped purlin is clamped on the flip fork assembly; 处于所述放置状态时，所述C型檩条夹设在所述翻转拨叉组件上，且位于所述第二工位上；When in the aforementioned placement state, the C-shaped purlin is clamped onto the flip-fork assembly and located at the second work station; 所述翻转拨叉组件包括：The flip-fork assembly includes: 转轴，可旋转设置于所述支撑架的中央；A pivot is rotatably mounted at the center of the support frame; 多个第一拨叉，套设于所述转轴上；Multiple first shift forks are sleeved on the rotating shaft; 多个第二拨叉，可转动设置于所述转轴上；Multiple second shift forks are rotatably mounted on the rotating shaft; 所述第一拨叉与所述第二拨叉位于所述转轴的两侧，且所述第一拨叉位于所述移动组件内；The first shift fork and the second shift fork are located on opposite sides of the rotating shaft, and the first shift fork is located within the moving assembly; 所述焊接设备包括：The welding equipment includes: 运送组件，与所述传输机构对接；The transport component docks with the transmission mechanism; 至少两个对位组件，所述运送组件的两端各有一个所述对位组件；以及At least two alignment components, one of which is located at each end of the transport component; and 焊枪，远离所述传输机构的对位组件上设有所述焊枪，两个所述焊枪沿横向设置于所述对位组件的两侧，所述焊枪的枪头与堆叠的两个所述C型檩条的缝隙对齐；The welding torch is provided on the alignment assembly away from the transmission mechanism. Two welding torches are arranged laterally on both sides of the alignment assembly, and the torch head is aligned with the gap of the two stacked C-shaped purlins. 所述对位组件包括：The alignment component includes: 对位板，中央具有校位孔，堆叠后的所述C型檩条穿设于所述校位孔中，所述校位孔的下孔壁低于或者齐平于所述运送组件的承托位；The alignment plate has a central alignment hole, and the stacked C-shaped purlins pass through the alignment hole. The lower wall of the alignment hole is lower than or flush with the support position of the transport component. 校对辊组，所述校位孔沿横向的两侧分别设有所述校对辊组，两个所述校对辊组可相向移动以与所述C型檩条抵接，或者向背移动以与所述C型檩条分离；The calibration roller group is provided on both sides of the calibration hole in the transverse direction. The two calibration roller groups can move towards each other to abut against the C-shaped purlin, or move away from each other to separate from the C-shaped purlin. 所述校对辊组包括：The calibration roller set includes: 移动板，可横向移动设置于所述校位孔的侧方；A movable plate is laterally positioned to the side of the alignment hole; 校对辊，可转动设置于所述移动板朝向所述校位孔的一侧，所述校对辊可与所述C型檩条抵接；以及A calibration roller, rotatably mounted on the side of the movable plate facing the calibration hole, is capable of abutting against the C-shaped purlin; and 动力件，输出端与所述移动板连接。The power component has its output end connected to the movable plate. 2.根据权利要求1所述的自动抱焊系统，其特征在于，所述第一拨叉与所述第二拨叉的长度大于所述C型檩条，小于等于所述移动组件的宽度。2. The automatic welding system according to claim 1, wherein the lengths of the first fork and the second fork are greater than the C-shaped purlin and less than or equal to the width of the moving component. 3.根据权利要求2所述的自动抱焊系统，其特征在于，所述翻转机构还包括：3. The automatic welding system according to claim 2, wherein the flipping mechanism further comprises: 驱动件，输出端与所述转轴连接；以及The drive unit, with its output end connected to the rotating shaft; and 多个动力组，所述动力组的输出端与第二拨叉连接。Multiple power units, the output end of which is connected to a second shift fork. 4.根据权利要求1所述的自动抱焊系统，其特征在于，所述抓取组件包括：4. The automatic welding system according to claim 1, wherein the gripping component comprises: 抓取架，跨设于所述翻转机构与所述传输机构上方；A gripping frame is positioned across the top of the flipping mechanism and the transmission mechanism; 升降组件，可移动设置于所述抓取架上；以及A lifting assembly is movably mounted on the gripping frame; and 移动爪组，设置于所述升降组件上，所述移动抓组具有张开状态与闭合夹取状态。A movable gripper assembly is mounted on the lifting assembly, and the movable gripper assembly has an open state and a closed gripping state. 5.根据权利要求1所述的自动抱焊系统，其特征在于，所述焊枪位于所述对位组件上，且所述焊枪的枪头与堆叠的两个所述C型檩条的缝隙对齐；5. The automatic welding system according to claim 1, wherein the welding torch is located on the alignment assembly, and the tip of the welding torch is aligned with the gap between the two stacked C-shaped purlins; 所述焊枪可上下移动。The welding torch can move up and down. 6.根据权利要求1所述的自动抱焊系统，其特征在于，所述校对辊组位于所述对位板朝向所述运送组件的一侧。6. The automatic welding system according to claim 1, wherein the alignment roller group is located on the side of the alignment plate facing the transport assembly. 7.根据权利要求1所述的自动抱焊系统，其特征在于，所述移动板的形状为圆形。7. The automatic welding system according to claim 1, wherein the movable plate is circular in shape. 8.根据权利要求6所述的自动抱焊系统，其特征在于，所述校位孔的上侧可上下移动设置有所述校对辊组。8. The automatic welding system according to claim 6, wherein the alignment roller group is provided on the upper side of the alignment hole, which can be moved up and down. 9.一种自动抱焊方法，其特征在于，应用权利要求1~8任一项所述的自动抱焊系统，所述方法包括：9. An automatic welding method, characterized in that it uses the automatic welding system according to any one of claims 1 to 8, the method comprising: 第一个所述C型檩条移动至所述第一工位，所述传输机构将所述C型檩条移动至叠放工位；The first C-shaped purlin moves to the first workstation, and the transmission mechanism moves the C-shaped purlin to the stacking workstation; 第二个所述C型檩条移动至所述第一工位，所述翻转机构将所述C型檩条翻转至第二工位；The second C-shaped purlin moves to the first station, and the flipping mechanism flips the C-shaped purlin to the second station; 所述传输机构将位于所述第二工位的所述C型檩条移动至第一个所述C型檩条上叠放，并将叠放后的C型檩条向焊接设备运输；The transmission mechanism moves the C-shaped purlin located at the second station onto the first C-shaped purlin for stacking, and then transports the stacked C-shaped purlin to the welding equipment; 所述焊接设备带动所述C型檩条移动并对两个所述C型檩条的抵接处焊接。The welding equipment moves the C-shaped purlins and welds the joints of the two C-shaped purlins. 10.根据权利要求9所述的方法，其特征在于，所述翻转机构包括翻转拨叉组件，所述翻转拨叉组件包括可转动设置的转轴，套设在所述转轴上的第一拨叉以及可转动套设在所述转轴上的第二拨叉，所述第一拨叉与所述第二拨叉分别位于所述转轴的两侧；10. The method according to claim 9, wherein the flipping mechanism includes a flipping fork assembly, the flipping fork assembly including a rotatably disposed shaft, a first fork sleeved on the shaft and a second fork rotatably sleeved on the shaft, the first fork and the second fork being located on opposite sides of the shaft. 所述翻转机构将第二个所述C型檩条翻转至第二工位，包括：The flipping mechanism flips the second C-shaped purlin to the second station, including: 所述第一拨叉带动所述第一工位上的所述C型檩条沿第一方向旋转至与所述第一工位呈锐角；The first shift fork drives the C-shaped purlin on the first workstation to rotate along the first direction to form an acute angle with the first workstation; 所述第二拨叉沿所述第一方向的反向旋转至与所述C型檩条抵接，所述翻转拨叉组件处于夹取状态；The second shift fork rotates in the opposite direction of the first direction until it abuts against the C-shaped purlin, and the flip shift fork assembly is in a clamping state; 所述第一拨叉与所述第二拨叉同时沿第一方向旋转至所述C型檩条位于所述第二工位，所述翻转拨叉组件处于放置状态；The first shift fork and the second shift fork rotate simultaneously along the first direction until the C-shaped purlin is located at the second work position, and the flip-fork assembly is in the placement state; 所述第二拨叉与所述第一拨叉回到原始位置，所述翻转拨叉组件恢复原始状态。The second shift fork and the first shift fork return to their original positions, and the flip shift fork assembly returns to its original state.
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