Automatic welding equipment and welding method for three-blade straight knife

Abstract

The three-blade straight knife automatic welding equipment comprises a supporting frame, a workbench and a bottom plate are fixed to the supporting frame, and two fixing mechanisms are fixed to the workbench through turnover mechanisms; a clamping groove used for containing a tray is formed in the bottom plate, and the tray is used for containing a knife handle, a blade and a tool. A solder supply mechanism and a first mechanical arm are fixed to the upper side face of the workbench. A second mechanical arm is fixed to the lower side face of the workbench. A mounting frame is fixed on the workbench; a camera is fixed on the bottom plate; and a heating coil is fixed on one welding flux supply mechanism. According to the automatic welding equipment and method for the three-blade straight knife, firstly, an automatic mode is adopted, the quality and efficiency are improved, secondly, the double-station parallel design is adopted, the production takt is optimized, in addition, a positioning mechanism in the fixing mechanism can ensure the relative relation between a blade and a knife handle, and finally, a reliable grabbing point is provided through the tool design, so that the production efficiency is improved. Therefore, the cutter is prevented from being damaged.

Description

Technical Field

[0001] This invention relates to the field of tool welding, specifically to an automated welding equipment and method for a three-bladed straight knife. Background Technology

[0002] A three-bladed straight cutter is a special type of cutting tool. Its structural feature is that three inserts are evenly welded around a cylindrical tool holder (with chip removal grooves on the outer side). The cutting edges of these inserts extend in a direction that is basically parallel to the central axis of the tool holder, thus forming three independent cutting edges. It is widely used in finishing processes such as grooving and hole enlargement in woodworking, CNC machining and other fields.

[0003] One of the core processes in its manufacturing is the precise and reliable welding of three independent alloy cutting blades to predetermined positions on the tool holder. Currently, the tool welding equipment commonly used in the industry typically consists of a drive unit, a carrier, a clamp, and a metal welding ring (such as an induction heating coil). The typical manual operation process is as follows: First, the operator places the tool holder on the carrier and activates the clamp to fix it in place. Then, the operator manually places one alloy cutting blade in the corresponding position on the tool holder. Next, the drive unit pushes the tool holder into the metal welding ring, and the heating is activated to melt the solder, completing the welding of a single cutting blade. If three cutting blades need to be welded, the above process of "placing the cutting blade - pushing and welding - resetting" must be repeated three times.

[0004] However, this existing technical solution has the following drawbacks in practice: First, in the existing technology, the entire process from tool holder clamping and blade placement to starting welding is highly dependent on the participation of operators. This not only leads to high labor costs, but also easily causes problems such as poor placement accuracy and inconsistent welding quality due to the instability of human operation. Secondly, in the existing technology, since the equipment usually has only one welding station, it is necessary to wait for all three blades of a tool to be welded and removed before the clamping and welding of the next tool can begin. This "serial" operation mode makes it impossible for preparation time and welding time to overlap, resulting in a large amount of equipment waiting time and a bottleneck in production efficiency. Furthermore, in the prior art, in order to avoid the metal weld ring during welding, the existing fixtures can usually only squeeze and fix the lower end of the blade in one direction. This single-point fixing method cannot effectively constrain the upper end of the blade. During heating and welding, the upper end of the blade is very prone to creating a small gap between itself and the handle due to stress or vibration, resulting in insufficient solder filling, which affects the welding strength and the final quality of the product. Finally, in the existing technology, after welding is completed, the operator needs to directly remove the tool from the fixture and transfer it to the next process. However, because the tool is in a high temperature state, it is easy to deform when subjected to clamping force, which affects the yield.

[0005] Therefore, it is essential to invent automated welding equipment and welding method for three-bladed straight knives. Summary of the Invention

[0006] The purpose of this invention is to provide an automated welding device and method for three-bladed straight knives to solve the following problems existing in the use of current three-bladed straight knives welding equipment: First, the entire process, from clamping the knife handle and placing the blade to starting welding, is highly dependent on the participation of the operator. Second, the "serial" operation mode of the existing technology means that the preparation time and welding time cannot overlap, resulting in a large amount of equipment waiting time. In addition, existing fixtures can usually only unidirectionally compress and fix the lower end of the blade, and cannot effectively constrain the upper end of the blade. During heating and welding, the upper end of the blade is very likely to generate a small gap with the knife handle, which affects the welding strength and the final quality of the product. Finally, when the welding is completed and transferred to the next process, the tool is prone to deformation due to the clamping force.

[0007] To achieve the above objectives, the present invention provides the following technical solution: a three-blade straight knife automated welding equipment, comprising a support frame, a worktable, a tilting mechanism, a fixing mechanism, a base plate, slots, a solder supply mechanism, a first robotic arm, a second robotic arm, a mounting frame, a camera, tooling, and a heating coil. The support frame is fixed to the ground, and the upper end of the support frame is bolted to the worktable, wherein a tilting mechanism is fixed to the worktable; the tilting mechanism has two actuators, which are respectively located on the upper and lower sides of the worktable, and both actuators are fixed to the fixing mechanism; the base plate is bolted to the support frame on the lower side of the worktable, and the base plate has three slots for placing trays, wherein the trays are respectively used to place the knife handle, the blade, and the tooling; the worktable is bolted to the base plate. There are three solder supply mechanisms, which are arranged in a uniform circular array, and the output ends of the solder supply mechanisms are all located on the upper side of the fixed mechanism. The upper side of the worktable is fixed with a first robotic arm by bolts, and the lower side of the worktable is fixed with a second robotic arm by bolts. The upper edge of the worktable is fixed with a mounting bracket for connection to an external conveying mechanism by bolts. The upper side of the base plate is fixed with two cameras by brackets, with the camera shooting directions facing the upper side of the slot and the fixed mechanism, respectively. A heating coil is fixed on one of the solder supply mechanisms, and the heating coil is movably mounted on the upper side of the fixed mechanism. The flipping mechanism, the fixed mechanism, the solder supply mechanism, the first robotic arm, the second robotic arm, the camera, and the heating coil are all electrically connected to an external control computer via data cables.

[0008] Furthermore, the flipping mechanism includes a flipping plate, a positioning column, and a first servo motor. The flipping plate is movably disposed in the middle of the worktable, and the positioning column is fixed to the flipping plate by welding. The positioning column is rotatably connected to the worktable through a support bearing, and the end of the positioning column is fixed to the output end of the first servo motor. The base of the first servo motor is fixed to the worktable by bolts. The first servo motor is electrically connected to an external production computer through a data cable. Fixing mechanisms are fixed on both sides of the flipping plate. This arrangement allows the two fixing mechanisms to interchange positions.

[0009] Further, the fixing mechanism includes a first electric push rod, a lifting plate, a telescopic rod, a turntable, a second servo motor, a clamp, and a positioning mechanism. The first electric push rod is bolted to the execution end of the tilting mechanism, and the output end of the first electric push rod is bolted to the lifting plate. Several telescopic rods are fixed between the lifting plate and the tilting mechanism, and a turntable is rotatably mounted on the upper side of the lifting plate via a support bearing. The outer edge of the turntable meshes with a gear, which is fixed to the output end of the second servo motor. The base of the second servo motor is bolted to the lifting plate. A clamp is bolted to the center of the turntable, and the clamp... The actuator end of the tool is adapted to the fixture; three positioning mechanisms are fixed on the turntable by bolts, and the three positioning mechanisms are evenly arranged around the fixture. The actuator end of the positioning mechanism presses and fixes the corresponding blades onto the tool holder; the first electric push rod, the second servo motor, the fixture and the positioning mechanism are all electrically connected to an external control computer via data lines. This arrangement can clamp the fixture with the tool holder and fix the blades onto the tool holder. When the fixing mechanism is on the upper side of the worktable, the blades and the tool holder can move up and down, so as to facilitate the welding of the blades onto the tool holder through the cooperation of the solder supply mechanism and the heating coil.

[0010] Furthermore, the fixture includes a frame, clamping plates, and a second electric push rod. The frame is fixed to the center of the turntable by bolts, and two clamping plates are slidably installed inside the frame. The sides of the clamping plates are fixed to the frame by the second electric push rod. This arrangement can clamp and fix the tooling.

[0011] Furthermore, the positioning mechanism includes a positioning plate, a slider, a third electric push rod, and a pressing plate. The positioning plate is fixed to the turntable by bolts, and a slider is slidably mounted on the positioning plate. The side of the slider is fixed to the positioning plate by the third electric push rod. The pressing plate is fixed to the upper side of the slider by welding. The third electric push rod is electrically connected to an external control computer via a data cable. This configuration allows the lower half of the blade to be pressed when the second robotic arm places the blade at the corresponding position on the blade holder.

[0012] Furthermore, the positioning mechanism also includes a limiting post, a fourth electric push rod, a guide block, an adjusting post, and a roller. The limiting post is fixed to the upper side of the slider by welding, and the fourth electric push rod is fixed inside the limiting post by bolts. The output end of the fourth electric push rod is fixed to the guide block by bolts. The guide block is slidably installed inside the limiting post, and the outer side of the guide block is fixed to the adjusting post by welding. The end of the adjusting post is rotatably mounted with a roller. The fourth electric push rod is electrically connected to an external control computer via a data cable. The end of the roller and the end of the extrusion plate are on the same vertical plane. This arrangement allows for the extrusion of the upper part of the blade, and at the same time, avoids collision with the heating coil as the blade rises.

[0013] Furthermore, the solder supply mechanism includes a sleeve, a third servo motor, a rotating column, an extension plate, a fastening plate, a fifth electric push rod, and a guide cylinder. The sleeve is fixed to the worktable with bolts, and the third servo motor is fixed inside the sleeve with bolts. The output end of the third servo motor is fixed to the rotating column, and the upper end of the rotating column is fixed to the extension plate with bolts. The fastening plate is slidably mounted on the lower side of the extension plate. One side of the fastening plate is fixed to the extension plate by the fifth electric push rod, and the other side has a positioning groove adapted to the solder. The lower side of the extension plate away from the rotating column is fixed to the guide cylinder by welding, and the guide cylinder has a through hole adapted to the solder. The end of the extension plate away from the rotating column is fixed to the heating coil with bolts. The third servo motor and the fifth electric push rod are both electrically connected to an external production computer via data cables. This arrangement allows the suspended end of the solder to be positioned between the blade and the tool holder when needed.

[0014] Furthermore, the tooling includes a housing, a limiting hole, an expansion groove, a limiting block, and a compression spring. The housing has a limiting hole with an inner diameter that matches the diameter of the tool holder, and expansion grooves are provided on both sides of the limiting hole. Limiting blocks are slidably installed inside each expansion groove, and a compression spring is fixed between the side of the limiting block away from the limiting hole and the inner wall of the expansion groove. The upper end of the limiting block is chamfered. This design allows for clamping and fixing the tool holder, and after the blade is welded to the tool holder, the first robotic arm can clamp the tooling and move the tooling and the blade together to the next process.

[0015] Furthermore, the welding method of the three-blade straight knife automated welding equipment is as follows: Step 1: Clamping and positioning at the lower workstation The flipping mechanism moves a fixed mechanism to the lower position below the worktable. The second robotic arm grabs the tool handle from the tray placed in the slot on the base plate and fixes it to the fixture. Then, the second robotic arm clamps the fixture and places and fixes it to the fixture of the fixed mechanism. Next, the second robotic arm grabs three blades from the tray placed in the slot and initially places them in the corresponding welding positions on the tool handle. The three positioning mechanisms of the fixed mechanism move synchronously (pressing the blades) to ensure that the blades and the tool handle maintain a precise and stable relative position before welding. Finally, with the cooperation of a camera and an external control computer, the orientation of the gap between the blade and the tool handle is judged. If it is inconsistent with the preset angle, the orientation of the gap between the blade and the tool handle can be adjusted by the cooperation of the second servo motor, gears and turntable inside the fixed mechanism.

[0016] Step 2: Flipping and Welding Preparation The first servo motor of the flipping mechanism drives the flipping plate to rotate 180°, transferring the lower station that has been clamped to the upper station (welding station) above the worktable, and at the same time transferring the upper station that has been welded to the lower station.

[0017] Step 3: Welding at the upper workstation Three solder supply mechanisms work together. The third servo motor drives the extension plate to rotate, so that the solder at the end of the guide cylinder is precisely moved to the joint between the blade and the tool holder. The heating coil on the solder supply mechanism is energized to generate high temperature to melt the solder. At the same time, the fifth electric push rod pushes the fastening plate to move slowly and continuously deliver solder to ensure that the weld is fully filled. During the welding process, the lifting plate is driven by the first electric push rod to adjust the tool to rise slowly. The fourth and third electric push rods of the positioning mechanism retract in sequence, driving the roller and the extrusion plate away from the welding area to avoid interference with the heating coil. After the blade is welded to the tool holder, the first robotic arm transfers the welded tool and the entire tooling to the external conveying mechanism or the next process.

[0018] Step 4: Loop Through the continuous 180° rotation of the flipping mechanism, the above-mentioned clamping, welding, and unloading processes are carried out alternately and in parallel at two workstations, realizing uninterrupted automated production.

[0019] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. This invention utilizes a camera, a second robotic arm, a fixing mechanism, a solder supply mechanism, and a heating coil to perform loading, unloading, welding, and unloading processes without human intervention. The entire process is controlled by an external computer, reducing labor costs and minimizing problems caused by human error.

[0020] 2. In this invention, a fixed mechanism is fixed at each of the two execution ends of the flipping mechanism. Whenever the flipping plate inside the flipping mechanism rotates 180°, the two fixed mechanisms can switch positions. Thus, when welding the tool fixed on one fixed mechanism, the tool can be fixed on the other fixed mechanism. This dual-station parallel operation mode overlaps the time-consuming clamping and positioning process with the welding process, almost eliminating the waiting time and realizing uninterrupted continuous production.

[0021] 3. The positioning mechanism inside the fixing mechanism of the present invention can press the upper and lower halves of the blade separately, thereby ensuring that the relative position between the blade and the handle does not change during welding. At the same time, as welding proceeds, the fourth and third electric push rods inside the positioning mechanism retract sequentially, which can drive the roller and the pressing plate away from the welding area, thereby avoiding interference with the heating coil.

[0022] 4. The tooling of this invention allows the tool holder to be slidably inserted into the limiting hole by the second robotic arm during use. The limiting block can then clamp and fix the tool holder under the action of the compression spring. After the blade is welded to the tool holder, the first robotic arm can clamp the tooling and move the tooling and the cutting tool together to the next process. This provides the first robotic arm with a standard and reliable gripping point, thereby avoiding any impact on the welded cutting tool (which is at a high temperature and is fragile after welding). Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the structure of the present invention.

[0024] Figure 2 This is a schematic diagram of the overall structure of the present invention.

[0025] Figure 3 This is a schematic diagram of the flipping mechanism and fixing mechanism of the present invention.

[0026] Figure 4 This is a schematic diagram of the fixture of the present invention.

[0027] Figure 5 This is a schematic diagram of the positioning mechanism of the present invention.

[0028] Figure 6 This is a schematic diagram of the solder supply mechanism of the present invention.

[0029] In the picture: 1-Support frame, 2-Workbench, 3-Tilting mechanism, 31-Tilting plate, 32-Positioning column, 33-First servo motor, 4-Fixing mechanism, 41-First electric push rod, 42-Lifting plate, 43-Telescopic rod, 44-Turntable, 45-Second servo motor, 46-Clamp, 461-Frame, 462-Clamping plate, 463-Second electric push rod, 47-Positioning mechanism, 471-Positioning plate, 472-Slider, 473-Third electric push rod, 474-Extrusion plate, 475-Limiting column, 476-Fourth electric push rod 477-Guide block, 478-Adjusting column, 479-Roller, 5-Base plate, 6-Slot, 7-Solder supply mechanism, 71-Sleeve, 72-Third servo motor, 73-Rotating column, 74-Extension plate, 75-Snap-fit ​​plate, 76-Fifth electric push rod, 77-Guide cylinder, 8-First robotic arm, 9-Second robotic arm, 10-Mounting bracket, 11-Camera, 12-Tooling, 121-Housing shell, 122-Limiting hole, 123-Extension slot, 124-Limiting block, 125-Compression spring, 13-Heating coil. Detailed Implementation

[0030] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0031] As attached Figure 1-6 As shown: An automated welding device for a three-bladed straight knife includes a support frame 1, a worktable 2, a tilting mechanism 3, a fixing mechanism 4, a base plate 5, a slot 6, a solder supply mechanism 7, a first robotic arm 8, a second robotic arm 9, a mounting frame 10, a camera 11, tooling 12, and a heating coil 13. The support frame 1 is fixed to the ground, and the upper end of the support frame 1 is bolted to the worktable 2, wherein the tilting mechanism 3 is fixed on the worktable 2. The tilting mechanism 3 has two actuating ends. Two actuators are respectively located on the upper and lower sides of the workbench 2, and both actuators of the flipping mechanism 3 are fixed with fixing mechanisms 4; a base plate 5 is fixed to the support frame 1 on the lower side of the workbench 2 by bolts, and the base plate 5 has three slots 6 for placing trays, which are used to place tool handles, blades and tooling respectively; three solder supply mechanisms 7 are fixed to the workbench 2 by bolts, and the three solder supply mechanisms 7 are arranged in a uniform circular array, and the output ends of the solder supply mechanisms 7 are all located on the upper side of the fixing mechanisms 4; The upper side of the workbench 2 is bolted with a first robotic arm 8, and the lower side of the workbench 2 is bolted with a second robotic arm 9. The upper edge of the workbench 2 is bolted with a mounting bracket 10 for connection with an external conveying mechanism. The upper side of the base plate 5 is fixed with two cameras 11, with the camera 11 pointing towards the upper side of the slot 6 and the fixed mechanism 4 respectively. A heating coil 13 is fixed on one of the solder supply mechanisms 7, and the heating coil 13 is movably mounted on the upper side of the fixed mechanism 4. The flipping mechanism 3, the fixed mechanism 4, the solder supply mechanism 7, the first robotic arm 8, the second robotic arm 9, the camera 11, and the heating coil 13 are all electrically connected to an external control computer via data cables. The first robotic arm 8 and the second robotic arm are both six-axis articulated robots with a load capacity of ≥5kg and an arm span of ≥700mm. The camera is an industrial CCD camera with a resolution of 2 megapixels (1600x1200) or higher. The heating coil is a medium-high frequency induction heating power supply with a power of 15-25kW and a frequency of 50-200kHz.

[0032] Specifically, the flipping mechanism 3 includes a flipping plate 31, a positioning column 32, and a first servo motor 33. The flipping plate 31 is movably disposed in the middle of the workbench 2, and the positioning column 32 is fixed to the flipping plate 31 by welding. The positioning column 32 is rotatably connected to the workbench 2 through a support bearing, and the end of the positioning column 32 is fixed to the output end of the first servo motor 33. The first servo motor 33 is an AC servo motor with a rated torque ≥10 N·m, and the base of the first servo motor 33 is fixed to the workbench 2 by bolts. The first servo motor 33 is electrically connected to an external production computer through a data cable. Fixing mechanisms 4 are fixed on both sides of the flipping plate 31. With this arrangement, in use, the first servo motor 33 can drive the flipping plate 31 to rotate through the positioning column 32 under the control of the external production computer. Thus, every 180° rotation of the flipping plate 31 can cause the two fixing mechanisms 4 to switch positions, so that when welding a tool fixed on one fixing mechanism 4, a tool can be fixed on the other fixing mechanism 4.

[0033] Specifically, the fixing mechanism 4 includes a first electric push rod 41, a lifting plate 42, telescopic rods 43, a turntable 44, a second servo motor 45, a clamp 46, and a positioning mechanism 47. The first electric push rod 41 is fixed to the execution end of the flipping mechanism 3 by bolts, and the output end of the first electric push rod 41 is fixed to the lifting plate 42 by bolts. The first electric push rod 41 is a servo electric push rod with a thrust ≥ 500N and a stroke of 100-150mm. Several telescopic rods 43 are fixed between the lifting plate 42 and the flipping mechanism 3. A turntable 44 is rotatably mounted on the upper side of the lifting plate 42 via a support bearing; the outer edge of the turntable 44 is meshed with a gear, which is fixed to the output end of a second servo motor 45. The base of the second servo motor 45 is fixed to the lifting plate 42 by bolts. The second servo motor is a stepper motor with a holding torque ≥4 N·m and a step angle of 1.8°; a clamp 46 is fixed to the middle of the turntable 44 by bolts, and the execution end of the clamp 46 is adapted to the tooling 12; three fixed fixtures are fixed to the turntable 44 by bolts. Positioning mechanism 47, wherein three positioning mechanisms 47 are evenly arrayed around clamp 46, and the execution end of the positioning mechanism 47 respectively presses and fixes the corresponding blades onto the tool holder; the first electric push rod 41, the second servo motor 45, clamp 46 and positioning mechanism 47 are all electrically connected to an external control computer via data cable. With this configuration, when the fixing mechanism 4 is under the worktable 2, the tooling 12 with the tool holder can be clamped by the cooperation of the second robotic arm 9 and clamp 46, and the blade can be fixed onto the tool holder by the cooperation of the second robotic arm 9 and positioning mechanism 47. When the fixing mechanism 4 is on the upper side of the worktable 2, the blade and tool holder can be moved up and down by the cooperation of the first electric push rod 41 and telescopic rod 43, so that the blade can be welded onto the tool holder by the cooperation of solder supply mechanism 7 and heating coil 13. In addition, the cooperation of camera 11, second servo motor 45 and turntable 44 can drive the tool to rotate accordingly, so that the gap between the blade and the tool holder is adapted to the output end of solder supply mechanism 7.

[0034] Specifically, the fixture 46 includes a frame 461, clamping plates 462, and a second electric push rod 463. The frame 461 is fixed to the middle of the turntable 44 by bolts, and two clamping plates 462 are slidably installed inside the frame 461. The sides of the clamping plates 462 are fixed to the frame 461 by the second electric push rod 463. The second electric push rod 463 is a servo electric push rod with a thrust of 300-500N and a stroke of 25-50mm. With this configuration, the distance between the two clamping plates 462 can be adjusted by the second electric push rod 463 during use, thereby making the clamping plates 462 clamp and fix the tooling 12.

[0035] Specifically, the positioning mechanism 47 includes a positioning plate 471, a slider 472, a third electric push rod 473, and a pressing plate 474. The positioning plate 471 is fixed to the turntable 44 by bolts, and the slider 472 is slidably mounted on the positioning plate 471. The side of the slider 472 is fixed to the positioning plate 471 by the third electric push rod 473. The pressing plate 474 is fixed to the upper side of the slider 472 by welding. The third electric push rod 473 is electrically connected to an external control computer via a data cable. The third electric push rod 473 uses a push... With a servo electric actuator of 200-300N force and 30-50mm stroke, when the second robotic arm 9 places the blade at the corresponding position on the tool holder, the end of the pressing plate 474 can be pressed against the lower half of the blade by the third electric actuator 473, thereby fixing the blade to the tool holder. After the upper part of the blade structure is welded to the tool holder, the pressing plate 474 can be moved away from the blade by the third electric actuator 473, thereby avoiding collision between the pressing plate 474 and the heating coil 13.

[0036] Specifically, the positioning mechanism 47 further includes a limiting post 475, a fourth electric push rod 476, a guide block 477, an adjusting post 478, and a roller 479. The limiting post 475 is fixed to the upper side of the slider 472 by welding, and the fourth electric push rod 476 is fixed inside the limiting post 475 by bolts. The output end of the fourth electric push rod 476 is fixed to the guide block 477 by bolts. The guide block 477 is slidably installed inside the limiting post 475, and the adjusting post 478 is fixed to the outer side of the guide block 477 by welding. The roller 479 is rotatably mounted at the end of the adjusting post 478. The fourth electric push rod 476 is electrically connected to an external control computer via a data cable. Furthermore, the fourth electric push rod 476 is a servo electric push rod with a thrust ≥200N and a stroke of 50-80mm; the end of the roller 479 and the end of the extrusion plate 474 are on the same vertical plane. With this arrangement, when the extrusion plate 474 extrudes the lower half of the blade, the roller 479 can extrude the upper half of the blade, thereby preventing the upper half of the blade from detaching from the handle. At the same time, as the blade rises, the fourth electric push rod 476 can drive the guide block 477, the adjusting column 478 and the roller 479 to move downward under the control of the external control computer, thereby preventing the adjusting column 478 and the roller 479 from colliding with the heating coil 13.

[0037] Specifically, the solder supply mechanism 7 includes a sleeve 71, a third servo motor 72, a rotating column 73, an extension plate 74, a fastening plate 75, a fifth electric push rod 76, and a guide cylinder 77. The sleeve 71 is fixed to the worktable 2 by bolts, and the third servo motor 72 is fixed inside the sleeve 71 by bolts. The output end of the third servo motor 72 is fixed to the rotating column 73, and the upper end of the rotating column 73 is fixed to the extension plate 74 by bolts. The fastening plate 75 is slidably mounted on the lower side of the extension plate 74. One side of the fastening plate 75 is connected to the fifth electric push rod 76. The fifth electric push rod 76 is fixed to the extension plate 74, and a positioning groove adapted to the solder 78 is opened on the other side; a guide cylinder 77 is fixed to the lower side of the end of the extension plate 74 away from the rotating column 73 by welding, wherein the guide cylinder 77 has a through hole adapted to the solder 78; a heating coil 13 is fixed to the end of the extension plate 74 away from the rotating column 73 by bolts; the third servo motor 72 and the fifth electric push rod 76 are both electrically connected to an external production computer via data cables, and the third servo motor 72 has a holding torque ≥1.2. The stepper motor has a capacity of N·m, and the fifth electric actuator 76 uses a servo electric actuator with a wire feeding accuracy of ±0.5%. The solder 78 uses silver-based or copper-based solder. With this configuration, when in use, the solder 78 is first passed through the guide cylinder 77 and one end is fastened to the fastening plate 75. When it is necessary to weld the blade to the tool holder, the third servo motor 72 can drive the rotating column 73 to rotate, so that the suspended end of the solder 78 is between the blade and the tool holder. Secondly, the fifth electric actuator 76 drives the fastening plate 75 to move slowly, so that the suspended end of the solder 78 can still be between the blade and the tool holder when it is gradually shortened. In addition, after the welding is completed, the third servo motor 72 can move the extension plate 74 away from the upper side of the flipping mechanism 3, so as to avoid the extension plate 74 from obstructing the operation of the flipping mechanism 3.

[0038] Specifically, the tooling 12 includes a housing 121, a limiting hole 122, an expansion groove 123, a limiting block 124, and a compression spring 125. The housing 121 has a limiting hole 122, the inner diameter of which is adapted to the diameter of the tool holder, and expansion grooves 123 are provided on both sides of the limiting hole 122. The limiting blocks 124 are slidably installed inside the expansion grooves 123, and a compression spring 125 is fixed between the side of the limiting block 124 away from the limiting hole 122 and the inner wall of the expansion groove 123. The upper end of the limiting block 124 is chamfered. With this setting, when in use, after the tool holder is slidably inserted into the limiting hole 122 by the second robotic arm 9, the limiting block 124 can clamp and fix the tool holder under the action of the compression spring 125. Then, after the blade is welded to the tool holder, the first robotic arm 8 can clamp the tooling and move the tooling and the tool together to the next process.

[0039] Specifically, the welding method of the three-blade straight knife automated welding equipment is as follows: Step 1: Clamping and positioning at the lower workstation The flipping mechanism 3 moves, positioning the fixing mechanism 4 at the lower workstation below the worktable 2. The second robotic arm 9 grabs the tool handle from the tray placed in the slot 6 on the base plate 5 and fixes it to the fixture 12. Then, the second robotic arm 9 clamps the fixture 12, places it on the clamp 46 of the fixing mechanism 4, and then the second robotic arm 9 grabs three blades from the tray placed in the slot 6 in sequence and initially places them on the corresponding welding positions of the tool handle. The three positioning mechanisms 47 of the fixing mechanism 4 move synchronously (press the blades) to ensure that the blades maintain a precise and stable relative position with the tool handle before welding. Finally, through the cooperation of the camera 11 and the external control computer, the orientation of the gap between the blade and the tool handle is judged. If it is inconsistent with the preset angle, the orientation of the gap between the blade and the tool handle can be adjusted through the cooperation of the second servo motor 45, gears and turntable 44 inside the fixing mechanism 4.

[0040] Step 2: Flipping and Welding Preparation The first servo motor 33 of the flipping mechanism 3 drives the flipping plate 31 to rotate 180°, transferring the lower station that has been clamped to the upper station (welding station) above the worktable 2, and at the same time transferring the upper station that has been welded to the lower station.

[0041] Step 3: Welding at the upper workstation Three solder supply mechanisms 7 work together. The third servo motor 72 drives the extension plate 74 to rotate, so that the solder 78 at the end of the guide cylinder 77 is precisely moved to the joint between the blade and the handle. The heating coil 13 on the solder supply mechanism 7 is energized to generate high temperature to melt the solder. At the same time, the fifth electric push rod 76 pushes the fastening plate 75 to move slowly, continuously supplying solder to ensure that the weld is fully filled. During the welding process, the lifting plate 42 is driven by the first electric push rod 41 to adjust the tool to rise slowly. The fourth electric push rod 476 and the third electric push rod 473 of the positioning mechanism 47 retract in sequence, driving the roller 479 and the extrusion plate 474 away from the welding area to avoid interference with the heating coil 13. After the blade is welded to the handle, the first robotic arm 8 transfers the welded tool and the entire tooling 12 to the external conveying mechanism or the next process.

[0042] Step 4: Loop Through the continuous 180° rotation of the flipping mechanism 3, the above-mentioned clamping, welding, and unloading processes are carried out alternately and in parallel at the two workstations, realizing uninterrupted automated production.

[0043] All components used in this application are standard parts, and the specific connection methods of each part adopt conventional methods such as bolts and welding that are mature in the prior art. The mechanical parts and electrical equipment adopt conventional models in the prior art, and the circuit connection adopts conventional connection methods in the prior art, which will not be described in detail here.

[0044] In summary, this automated three-blade straight knife welding equipment and method solves the following problems existing in the use of current three-blade straight knife welding equipment: First, the entire process, from clamping the knife holder and placing the blade to starting welding, is highly dependent on the operator's participation. Second, the "serial" operation mode of existing technologies means that preparation time and welding time cannot overlap, resulting in a large amount of equipment waiting time. In addition, existing fixtures can usually only unidirectionally compress and fix the lower end of the blade, failing to effectively constrain the upper end. During heating and welding, the upper end of the blade is prone to developing tiny gaps with the knife holder, thus affecting the welding strength and the final quality of the product. Finally, when transferring to the next process after welding, the tool is prone to deformation due to clamping force.

[0045] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A three-blade straight knife automated welding device, comprising a support frame (1), a worktable (2), a flipping mechanism (3), a fixing mechanism (4), a base plate (5), a slot (6), a solder supply mechanism (7), a first robotic arm (8), a second robotic arm (9), a mounting frame (10), a camera (11), tooling (12), and a heating coil (13), wherein the support frame (1) is fixed to the ground, and the upper end of the support frame (1) is fixed to the worktable (2) by bolts, wherein the flipping mechanism (8) is fixed on the worktable (2). 3) The flipping mechanism (3) is provided with two execution ends, which are respectively located on the upper and lower sides of the workbench (2), and both execution ends of the flipping mechanism (3) are fixed with a fixing mechanism (4); a base plate (5) is fixed to the support frame (1) on the lower side of the workbench (2) by bolts, and three slots (6) for placing trays are provided on the base plate (5), wherein the trays are respectively used to place the knife handle, the blade and the tooling; three soldering irons are fixed to the workbench (2) by bolts. The supply mechanism (7) consists of three solder supply mechanisms (7) arranged in a uniform circular array, and the output ends of the solder supply mechanisms (7) are all located on the upper side of the fixing mechanism (4); the upper side of the workbench (2) is fixed with a first robotic arm (8) by bolts, and the lower side of the workbench (2) is fixed with a second robotic arm (9) by bolts; the upper edge of the workbench (2) is fixed with a mounting bracket (10) for connection with an external conveying mechanism by bolts; the upper side of the base plate (5) is fixed with two cameras (11) by brackets, and the shooting direction of the cameras (11) is respectively facing the upper side of the slot (6) and the fixing mechanism (4); a heating coil (13) is fixed on one of the solder supply mechanisms (7), and the heating coil (13) is movably arranged on the upper side of the fixing mechanism (4); the flipping mechanism (3), the fixing mechanism (4), the solder supply mechanism (7), the first robotic arm (8), the second robotic arm (9), the camera (11) and the heating coil (13) are all electrically connected to an external control computer via data cables.

2. The automated welding equipment with a three-blade straight knife as described in claim 1, characterized in that: The flipping mechanism (3) includes a flipping plate (31), a positioning column (32), and a first servo motor (33). The flipping plate (31) is movably disposed in the middle of the workbench (2), and the positioning column (32) is fixed on the flipping plate (31) by welding. The positioning column (32) is rotatably connected to the workbench (2) through a support bearing, and the end of the positioning column (32) is fixed to the output end of the first servo motor (33). The base of the first servo motor (33) is fixed to the workbench (2) by bolts. The first servo motor (33) is electrically connected to an external production computer through a data cable. Fixing mechanisms (4) are fixed on both sides of the flipping plate (31).

3. The automated welding equipment with a three-blade straight knife as described in claim 1, characterized in that: The fixing mechanism (4) includes a first electric push rod (41), a lifting plate (42), a telescopic rod (43), a turntable (44), a second servo motor (45), a clamp (46), and a positioning mechanism (47). The first electric push rod (41) is fixed to the execution end of the flipping mechanism (3) by bolts, and the output end of the first electric push rod (41) is fixed to the lifting plate (42) by bolts. Several telescopic rods (43) are fixed between the lifting plate (42) and the flipping mechanism (3), and the turntable (44) is rotatably mounted on the upper side of the lifting plate (42) through a support bearing. The outer edge of the turntable (44) is meshed with a gear, wherein the gear is fixed to the second servo motor (45). At the output end of the motor (45), the base of the second servo motor (45) is fixed to the lifting plate (42) by bolts; a clamp (46) is fixed to the middle of the turntable (44) by bolts, and the execution end of the clamp (46) is adapted to the tooling (12); three positioning mechanisms (47) are fixed to the turntable (44) by bolts, wherein the three positioning mechanisms (47) are evenly arrayed around the clamp (46), and the execution end of the positioning mechanism (47) respectively presses and fixes the corresponding blades on the tool holder; the first electric push rod (41), the second servo motor (45), the clamp (46) and the positioning mechanism (47) are all electrically connected to an external control computer through a data cable.

4. The automated welding equipment with a three-blade straight knife as described in claim 3, characterized in that: The clamp (46) includes a frame (461), clamping plates (462) and a second electric push rod (463). The frame (461) is fixed to the middle of the turntable (44) by bolts, and two clamping plates (462) are slidably installed inside the frame (461). The sides of the clamping plates (462) are fixed to the frame (461) by the second electric push rod (463).

5. The automated welding equipment with a three-blade straight knife as described in claim 3, characterized in that: The positioning mechanism (47) includes a positioning plate (471), a slider (472), a third electric push rod (473), and a pressing plate (474). The positioning plate (471) is fixed to the turntable (44) by bolts, and the slider (472) is slidably installed on the positioning plate (471). The side of the slider (472) is fixed to the positioning plate (471) by the third electric push rod (473). The pressing plate (474) is fixed to the upper side of the slider (472) by welding. The third electric push rod (473) is electrically connected to an external control computer through a data cable.

6. The automated welding equipment with a three-blade straight knife as described in claim 5, characterized in that: The positioning mechanism (47) further includes a limiting post (475), a fourth electric push rod (476), a guide block (477), an adjusting post (478), and a roller (479). The limiting post (475) is fixed to the upper side of the slider (472) by welding, and the fourth electric push rod (476) is fixed inside the limiting post (475) by bolts. The output end of the fourth electric push rod (476) is fixed to the guide block (477) by bolts. The guide block (477) is slidably installed inside the limiting post (475), and the outer side of the guide block (477) is fixed to the adjusting post (478) by welding. The end of the adjusting post (478) is rotatably installed with the roller (479). The fourth electric push rod (476) is electrically connected to an external control computer through a data cable. The end of the roller (479) and the end of the extrusion plate (474) are on the same vertical plane.

7. The automated welding equipment with a three-blade straight knife as described in claim 1, characterized in that: The solder supply mechanism (7) includes a sleeve (71), a third servo motor (72), a rotating column (73), an extension plate (74), a fastening plate (75), a fifth electric push rod (76), and a guide cylinder (77). The sleeve (71) is fixed to the workbench (2) by bolts, and the third servo motor (72) is fixed inside the sleeve (71) by bolts. The output end of the third servo motor (72) is fixed to the rotating column (73), and the upper end of the rotating column (73) is fixed to the extension plate (74) by bolts. The fastening plate (75) is slidably installed on the lower side of the extension plate (74). One side of the snap-fit ​​plate (75) is fixed to the extension plate (74) by the fifth electric push rod (76), and the other side is provided with a positioning groove adapted to the solder (78); the lower side of the end of the extension plate (74) away from the rotating column (73) is fixed with a guide cylinder (77) by welding, wherein the inside of the guide cylinder (77) is provided with a through hole adapted to the solder (78); the end of the extension plate (74) away from the rotating column (73) is fixed with a heating coil (13) by bolts; the third servo motor (72) and the fifth electric push rod (76) are both electrically connected to an external production computer through a data cable.

8. The automated welding equipment with a three-blade straight knife as described in claim 1, characterized in that: The tooling (12) includes a housing (121), a limiting hole (122), an expansion groove (123), a limiting block (124), and a compression spring (125). The housing (121) has a limiting hole (122), the inner diameter of which is adapted to the diameter of the tool holder, and expansion grooves (123) are provided on both sides of the limiting hole (122). The limiting blocks (124) are slidably installed inside the expansion grooves (123), and a compression spring (125) is fixed between the side of the limiting block (124) away from the limiting hole (122) and the inner wall of the expansion groove (123). The upper end of the limiting block (124) is chamfered.

9. The welding method of a three-blade straight knife automated welding equipment as described in claims 1 to 8, characterized in that, Includes the following steps: Step 1: Lower station clamping and positioning The flipping mechanism (3) moves to place a fixed mechanism (4) in the lower position below the workbench (2). The second robotic arm (9) grabs the tool handle from the tray placed in the slot (6) on the base plate (5) and fixes it to the fixture (12). Then, the second robotic arm (9) clamps the fixture (12), places it and fixes it on the clamp (46) of the fixed mechanism (4). Then, the second robotic arm (9) grabs three blades from the tray placed in the slot (6) in sequence and initially places them on the corresponding welding position of the tool handle. The three positioning mechanisms (47) of the fixed mechanism (4) move synchronously (press the blades) to ensure that the blades and the tool handle maintain a precise and stable relative position before welding. Finally, the camera (11) and the external control computer cooperate to judge the orientation of the gap between the blade and the tool handle. If it is inconsistent with the preset angle, the orientation of the gap between the blade and the tool handle can be adjusted by the cooperation of the second servo motor (45), gear and turntable (44) inside the fixed mechanism (4). Step 2: Flipping and Welding Preparation The first servo motor (33) of the flipping mechanism (3) drives the flipping plate (31) to rotate 180°, transferring the lower station that has been clamped to the upper station (welding station) above the workbench (2), and at the same time transferring the upper station that has been welded to the lower station. Step 3: The three solder supply mechanisms (7) work together at the upper station. The third servo motor (72) drives the extension plate (74) to rotate, so that the solder (78) at the end of the guide cylinder (77) is precisely moved to the joint between the blade and the handle. The heating coil (13) on the solder supply mechanism (7) is energized to generate high temperature to melt the solder. At the same time, the fifth electric push rod (76) pushes the fastening plate (75) to move slowly and continuously supply solder to ensure that the weld is fully filled. During the welding process, the lifting plate (42) is driven by the first electric push rod (41) to adjust the tool to rise slowly. The fourth electric push rod (476) and the third electric push rod (473) of the positioning mechanism (47) retract in sequence, driving the roller (479) and the extrusion plate (474) to leave the welding area to avoid interference with the heating coil (13). After the blade is welded to the handle, the welded tool and the entire tooling (12) are transferred to the external conveying mechanism or the next process by the first robotic arm (8). Step 4: The above clamping, welding and unloading processes are carried out alternately and in parallel at two workstations through the continuous 180° rotation of the flipping mechanism (3) to achieve uninterrupted automated production.

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