A kind of automatic high-speed oscillator and working method thereof

Abstract

The present invention relates to the field of welding automation, and in particular to an automated high-speed oscillator and a working method thereof. The automated high-speed oscillator comprises: an L-shaped mounting plate, which comprises a bottom plate and side plates which are vertically arranged; a oscillating mechanism, which is arranged on the side plate, and one end of which is exposed on the side plate is connected with a gun clamp assembly for fixing and clamping a welding gun; a forward-reverse switching transmission mechanism, which is arranged on the bottom plate and is suitable for cooperating with the oscillating mechanism; a width adjusting mechanism, which is arranged on the forward-reverse switching transmission mechanism and cooperates with the oscillating mechanism; a driving mechanism, which cooperates with the forward-reverse switching transmission mechanism; the automated high-speed oscillator oscillates when the driving mechanism rotates clockwise to output, and adjusts the width when the driving mechanism rotates counterclockwise to output, and the oscillation and width adjustment use the same power source, the system is simple, the structure is compact, and it is easy to be expanded on various automated welding equipment platforms to adapt to automated welding operation scenes with different requirements such as groove form, welding position and weld bead arrangement.

Description

Technical Field

[0001] The invention relates to the field of welding automation, and in particular to an automated high-speed oscillator and a working method thereof. Background Art

[0002] With the rapid development of modern industry, the degree of automation of welding is increasingly required in many mechanical processing fields. Especially when welding standard batch products, intelligent welding or surface additive manufacturing, many workpieces are required to complete automated welding operations at high speed and unmanned operating areas, thus placing higher requirements on the flexibility and accuracy of welding equipment.

[0003] In the field of automatic welding machines, especially in the industry of industrial automatic welding manipulators and rectangular coordinate welding robots, there is an increasing need to enable the welding gun to swing. When welding operations are performed with a certain swing amplitude and swing frequency, the design requirements of different welding joints and the requirements of welding process parameters can be met, and the welding efficiency can also be improved, which has good economy. Common swing welding solutions include relying on the coordinated movement of the various joint axes of the industrial welding manipulator to achieve the swing of the welding gun, and using welding oscillators designed in the form of ball screws, sliding friction and other linear reciprocating motions or hinged four-bar mechanisms with manually adjusted swing amplitudes to achieve the swing of the welding gun.

[0004] The industrial welding manipulators currently used in the field of automated welding can accurately adjust the swing width, but are limited by their own mass constraints. The larger the swing amplitude, the smaller the swing frequency. When working stably, the swing frequency generally cannot exceed 2Hz. Most of the common oscillators on the market use ball screws and sliding friction oscillators. The swing frequency is inversely proportional to the swing mass and swing amplitude, and is at most 4Hz, which cannot be further improved.

[0005] The hinged four-bar mechanism oscillator with manually adjusted swing amplitude needs to be manually adjusted, so the swing amplitude is greatly affected by the operator's experience. Due to the characteristics of the hinged four-bar mechanism itself, when the swing amplitude is adjusted, the center position of the swing amplitude will shift. The larger the adjustment swing amplitude, the greater the deviation of the swing center. Therefore, its uncertainty is high, which is not conducive to matching other welding parameters, nor is it conducive to automatic positioning of the robot. Its process stability is poor, and it cannot function effectively in unmanned operation scenarios.

[0006] Therefore, it is urgent to design an automated high-speed oscillator that uses the rotation direction to adjust the swing amplitude, which can quickly and accurately adjust the welding gun swing frequency and swing amplitude during unmanned, high-speed welding operations. Summary of the invention

[0007] The purpose of the present invention is to provide an automated high-speed oscillator and a working method thereof, which can adjust the swing frequency and swing amplitude of the welding gun by adjusting the swing direction during unmanned high-speed swing welding operations.

[0008] In order to solve the above technical problems, the present invention provides an automated high-speed oscillator, comprising: an L-shaped mounting plate, which includes a vertically arranged bottom plate and side plates; a swing mechanism, which is arranged on the side plate, and one end of which is exposed from the side plate is connected to a gun clamp assembly for fixing and clamping a welding gun; a forward-reverse switching transmission mechanism, which is arranged on the bottom plate and is suitable for cooperating with the swing mechanism; a width adjustment mechanism, which is arranged on the forward-reverse switching transmission mechanism and cooperates with the swing mechanism; a driving mechanism, which cooperates with the forward-reverse switching transmission mechanism; wherein when the driving mechanism rotates clockwise to output, the forward-reverse switching transmission mechanism is suitable for driving the swing mechanism to swing so that the welding gun fixedly clamped by the gun clamp assembly 3 performs swing welding; when the driving mechanism rotates counterclockwise to output, the forward-reverse switching transmission mechanism is suitable for driving the width adjustment mechanism to adjust the swing amplitude of the swing mechanism.

[0009] Furthermore, the swing mechanism includes: a swing arm, one end of which is provided with a handle, the handle is provided with an arc-shaped slide slot hole, the other end of which can be rotatably mounted on the inner side of the side plate, and the end exposed on the outer side of the side plate is suitable for connecting with the gun clip assembly; two rocker arms, the top ends of which are connected by an arc-shaped rod, and a spherical part is provided in the top center of the arc-shaped rod, and the lower part is connected to the upper part of the forward and reverse switching transmission mechanism; wherein the spherical part is suitable for matching with the clearance of the arc-shaped slide slot hole; and the driving mechanism is suitable for driving the rocker arm to rotate clockwise through the forward and reverse switching transmission mechanism.

[0010] Furthermore, the clockwise-reverse switching transmission mechanism includes: a clockwise one-way bearing, which is suitable for being circumferentially fixedly installed on the base plate through a forward connecting key; a rocker arm drive shaft, which is suitable for being circumferentially fixedly installed on the inner ring of the clockwise one-way bearing through a forward connecting key, and the upper part of its outer ring is suitable for being rotatably connected with the lower part of each rocker arm respectively; a counterclockwise one-way bearing, which is suitable for being circumferentially fixedly installed on the inner ring of the rocker arm drive shaft through a reverse connecting key; a width adjustment drive shaft, which is arranged in the rocker arm drive shaft, and its lower end is suitable for extending into the inner ring of the counterclockwise one-way bearing; an input shaft, which is arranged below the rocker arm drive shaft, and its upper end is suitable for extending into the inner ring of the counterclockwise one-way bearing, and is axially fixed to the width adjustment drive shaft by a screw; wherein when the rotation direction of the input shaft is clockwise, the counterclockwise one-way bearing is locked, and the clockwise one-way bearing drives the rocker arm drive shaft to rotate; when the rotation direction of the input shaft is counterclockwise, the clockwise one-way bearing is locked, and the counterclockwise one-way bearing drives the width adjustment drive shaft to rotate.

[0011] Furthermore, the width adjustment mechanism includes: a sinusoidal trajectory slide groove, which is arranged on the outer periphery of the width adjustment drive shaft located above the counterclockwise one-way bearing; a width adjustment driven shaft, which is sleeved on the width adjustment drive shaft and cooperates with the sinusoidal trajectory slide groove through a driven positioning pin, and a pull rod fixing shaft is arranged on the top; a pull rod connecting shaft, both ends of which are respectively installed on the corresponding rocker arms, and are connected to the pull rod fixing shaft through two width adjustment pull rods; wherein when the width adjustment drive shaft rotates, the driven positioning pin drives the width adjustment driven shaft to slide up and down along the sinusoidal trajectory slide groove, and drives the rocker arm to rotate through the width adjustment pull rod, thereby changing the angle between the rocker arm and the rocker arm drive shaft, and then adjusting the swing amplitude of the rocker arm.

[0012] Furthermore, the driving mechanism includes: a reducer mounting frame, installed below the base plate, and a cover arranged on the outside of the forward-reverse switching transmission mechanism located below the base plate; a precision planetary reducer, installed below the reducer mounting frame, and its output end is connected to the input shaft; and a servo motor, connected to the input end of the precision planetary reducer, and electrically connected to a control module; wherein the control module is suitable for controlling the servo motor to drive the input shaft to rotate clockwise or counterclockwise through the precision planetary reducer.

[0013] Furthermore, the automated high-speed oscillator also includes: an upper neodymium magnet, which is installed with an interference fit on the outer ring of the rocker arm drive shaft located below the clockwise one-way bearing; a lower neodymium magnet, which is installed with an interference fit on the outer ring of the input shaft; two Hall sensors, both electrically connected to the control module, suitable for respectively detecting whether the upper neodymium magnet is in the swing zero position and whether the lower neodymium magnet is in the width adjustment zero position; wherein the control module is suitable for controlling the servo motor to rotate counterclockwise when the Hall sensor detects that the upper neodymium magnet and the lower neodymium magnet are respectively in the swing zero position and the width adjustment zero position, and when rotating to the angle corresponding to the preset swing amplitude, controlling the servo motor 53 to rotate clockwise.

[0014] Furthermore, the gun clamp assembly includes: a lower gun clamp, one side of which is provided with a recessed hole, suitable for being circumferentially fixed to the end of the swing arm exposed outside the side plate through a gun clamp connecting key, and axially fixed by a screw; an insulating sleeve, suitable for being sleeved on the outer periphery of the welding gun; and an upper gun clamp, suitable for cooperating with the lower gun clamp to fix and clamp the welding gun through the insulating sleeve.

[0015] Furthermore, a dust cover is provided on the upper cover of the L-shaped mounting plate.

[0016] On the other hand, the present invention also provides a working method of an automated high-speed oscillator, comprising: the output shaft of the driving mechanism rotates counterclockwise, and the welding gun performs swing welding; and the output shaft of the driving mechanism rotates clockwise to adjust the swing amplitude of the welding gun.

[0017] The beneficial effect of the present invention is that the forward and reverse switching transmission mechanism of the present invention is suitable for locking the width adjustment mechanism when the driving mechanism rotates in the clockwise direction to output, driving the swing mechanism to drive the welding gun to swing; when the driving mechanism rotates in the counterclockwise direction to output, the swing mechanism is locked to drive the width adjustment mechanism to adjust the swing amplitude; the width adjustment mechanism and the swing mechanism cooperate, the swinger swings when the driving mechanism rotates in the clockwise direction to output, and the swinger adjusts the width when the driving mechanism rotates in the counterclockwise direction to output; the swinging and width adjustment use the same power source, the system is simple, the structure is compact, and it is easy to expand on various automated welding equipment platforms to adapt to automated welding operation scenarios with different requirements such as groove form, welding position and weld bead layout.

[0018] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention are realized and obtained by the structures particularly pointed out in the description and the drawings.

[0019] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1 is a stereogram of the automated high-speed oscillator of the present invention;

[0022] Figure 2 is a cross-sectional view of the automated high-speed oscillator of the present invention;

[0023] Figure 3 It is a three-dimensional diagram of the coordination of the forward and reverse switching transmission mechanism, the width adjustment mechanism and the swing mechanism of the present invention;

[0024] Figure 4 It is a cross-sectional view of the coordination of the forward and reverse switching transmission mechanism, the width adjustment mechanism and the swing mechanism of the present invention;

[0025] Figure 5 It is a schematic diagram of the state in which the swing mechanism of the present invention converts circular motion into plane swing;

[0026] Figure 6 It is an internal cross-sectional view of the cooperation between the width adjustment driving shaft of the forward-reverse switching transmission mechanism and the width adjustment driven shaft of the width adjustment mechanism of the present invention;

[0027] Figure 7 is a schematic diagram of a sinusoidal track slideway on a width-adjustable drive shaft of the present invention;

[0028] Figure 8 It is a side view of the coordination of the forward and reverse switching transmission mechanism, the width adjustment mechanism and the swing mechanism of the present invention;

[0029] Fig. 9 It is a schematic diagram of the trajectory of the spherical part sliding in the arc-shaped slide slot hole when the oscillator of the present invention is at the zero position of the swing with different swing amplitudes;

[0030] Fig.10 It is a perspective view of the gun clip assembly of the present invention.

[0031] In the figure:

[0032] L-shaped mounting plate 1, bottom plate 11, side plate 12;

[0033] Swing mechanism 2, swing arm 21, handle 211, arc-shaped slide slot 212, rocker arm 22, arc-shaped rod 221, spherical portion 222;

[0034] Gun clip assembly 3,

[0035] Clockwise and counterclockwise switching transmission mechanism 4, clockwise one-way bearing 41, rocker arm drive shaft 42, counterclockwise one-way bearing 43, width adjustment drive shaft 44, input shaft 45;

[0036] Driving mechanism 5, reducer mounting frame 51, precision planetary reducer 52, servo motor 53;

[0037] Upper neodymium magnet 61, lower neodymium magnet 62, Hall sensor 63;

[0038] Dust cover 7;

[0039] Width adjustment mechanism 8, sinusoidal trajectory slide groove 81, width adjustment driven shaft 82, driven positioning pin 83, pull rod fixing shaft 84, pull rod connecting shaft 85, width adjustment pull rod 86. DETAILED DESCRIPTION

[0040] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0041] Example 1

[0042] like Figure 1 and Figure 2As shown, this embodiment provides an automated high-speed oscillator, comprising: an L-shaped mounting plate 1, which includes a vertically arranged bottom plate 11 and a side plate 12; a swing mechanism 2, which is arranged on the side plate 12, and one end of which is exposed from the side plate 12 is connected to a gun clamp assembly 3 for fixing and clamping a welding gun; a forward-reverse switching transmission mechanism 4, which is arranged on the bottom plate 11 and is suitable for cooperating with the swing mechanism 2; a width adjustment mechanism 8, which is arranged on the forward-reverse switching transmission mechanism 4 and cooperates with the swing mechanism 2; a driving mechanism 5, which cooperates with the forward-reverse switching transmission mechanism 4; wherein when the driving mechanism 5 rotates clockwise to output, the forward-reverse switching transmission mechanism 4 is suitable for driving the swing mechanism 2 to swing so that the welding gun fixedly clamped by the gun clamp assembly 3 performs swing welding; when the driving mechanism 5 rotates counterclockwise to output, the forward-reverse switching transmission mechanism 4 is suitable for driving the width adjustment mechanism 8 to adjust the swing amplitude of the swing mechanism 2.

[0043] In this embodiment, the forward and reverse switching transmission mechanism 4 is suitable for locking the width adjustment mechanism 8 when the driving mechanism 5 rotates in the clockwise direction to output, driving the swing mechanism 2 to drive the welding gun to swing, and locking the swing mechanism 2 to drive the width adjustment mechanism 8 to adjust the swing amplitude when the driving mechanism 5 rotates in the counterclockwise direction to output. The width adjustment mechanism 8 and the swing mechanism 2 cooperate. The oscillator swings when the driving mechanism 5 rotates clockwise to output, and the oscillator adjusts the width when the driving mechanism 5 rotates counterclockwise to output. The swinging and width adjustment use the same power source. The system is simple and compact in structure, and is easy to expand on various automated welding equipment platforms to adapt to automated welding operation scenarios with different requirements such as groove form, welding position and weld bead layout.

[0044] In this embodiment, the automatic high-speed oscillator can be installed on an industrial automatic welding manipulator or a rectangular coordinate welding robot through the L-shaped mounting plate 1.

[0045] like Figure 3 and Figure 4 As shown, in this embodiment, the swing mechanism 2 includes: a swing arm 21, one end of which is provided with a handle 211, and the handle 211 is provided with an arc-shaped slide slot hole 212, and the other end of which can be rotatably mounted on the inner side of the side plate 12, and the end exposed on the outer side of the side plate 12 is suitable for connecting with the gun clip assembly 3; two rocker arms 22, the top ends of which are connected by an arc-shaped rod 221, and the top center of the arc-shaped rod 221 is provided with a spherical portion 222, and the lower part is connected to the upper part of the forward and reverse switching transmission mechanism 4; wherein the spherical portion 222 is suitable for clearance fit with the arc-shaped slide slot hole 212; and the driving mechanism 5 is suitable for driving the rocker arm 22 to rotate clockwise through the forward and reverse switching transmission mechanism 4.

[0046] In this embodiment, the two rocker arms 22 and the arc rod 221 can be but are not limited to an integrally formed U-shaped part, and the other end of the rocker arm 21 is suitable for being rotatably mounted in the side plate 12 through a rocker arm bearing, and the rocker arm bearing is fixed in the bearing hole of the side plate 12 through a rocker arm bearing cover; when the rocker arm 22 drives the spherical portion 222 to rotate, the spherical portion 222 slides in the arc-shaped slide groove hole 212, driving the handle 211 of the rocker arm 21 to swing left and right, converting the circular motion of the rocker arm 22 into the planar swing of the rocker arm 21, and then making the gun clamp assembly 3 at the other end of the rocker arm 21 drive the welding gun to swing.

[0047] like Figure 5 As shown, the dotted line in the figure is the swing axis, and the dotted line is the motion trajectory of the spherical portion 222. The specific process of the swing mechanism 2 converting the circular motion of the rocker arm 22 into the plane swing of the swing arm 21 is as follows:

[0048] When the driving mechanism 5 rotates clockwise to output, the clockwise-reverse switching transmission mechanism 4 drives the rocker arm 22 to rotate clockwise, so that the spherical portion 222 of the rocker arm 22 rotates clockwise (when viewed from above, the spherical portion 222 rotates counterclockwise), and the spherical portion 222 slides in the arc-shaped slide slot hole 212, driving the handle 211 of the rocker arm 21 to swing. When the spherical portion 222 rotates one circle, the handle 211 swings back and forth once, and through the body of the rocker arm 21, drives the gun clip assembly 3 at the other end to swing back and forth once, and its swinging frequency depends on the rotation speed.

[0049] like Figure 4 As shown, in this embodiment, the clockwise-reverse switching transmission mechanism 4 includes: a clockwise one-way bearing 41, which is suitable for being circumferentially fixedly installed on the base plate 11 through a forward connecting key; a rocker arm drive shaft 42, which is suitable for being circumferentially fixedly installed on the inner ring of the clockwise one-way bearing 41 through a forward connecting key, and the upper part of its outer ring is suitable for being rotatably connected with the lower part of each rocker arm 22; a counterclockwise one-way bearing 43, which is suitable for being circumferentially fixedly installed on the inner ring of the rocker arm drive shaft 42 through a reverse connecting key; a width adjustment drive shaft 44, which is arranged in the rocker arm drive shaft 42, Its lower end is suitable for extending into the inner ring of the counterclockwise one-way bearing 43; the input shaft 45 is arranged below the rocker arm drive shaft 42, and its upper end is suitable for extending into the inner ring of the counterclockwise one-way bearing 43, and is axially fixed to the width adjustment drive shaft 44 by screws; when the input shaft 45 rotates clockwise, the counterclockwise one-way bearing 43 is locked, and the clockwise one-way bearing 41 drives the rocker arm drive shaft 42 to rotate; when the input shaft 45 rotates counterclockwise, the clockwise one-way bearing 41 is locked, and the counterclockwise one-way bearing 43 drives the width adjustment drive shaft 44 to rotate.

[0050] In this embodiment, specifically, each one-way bearing is axially fixed by a corresponding retaining ring, and the connection between the rocker drive shaft 42 and the two rocker arms 22 is rotatably connected by a corresponding rocker bearing and a fixed retaining ring.

[0051] like Figure 4 and Figure 6 As shown, in this embodiment, the width adjustment mechanism 8 includes: a sinusoidal trajectory groove 81, which is arranged on the outer periphery of the width adjustment drive shaft 44 located above the counterclockwise one-way bearing 43; a width adjustment driven shaft 82, which is sleeved on the width adjustment drive shaft 44 and cooperates with the sinusoidal trajectory groove 81 through a driven positioning pin 83, and a pull rod fixing shaft 84 is arranged on the top; a pull rod connecting shaft 85, both ends of which are respectively mounted on the corresponding rocker arm 22, and are connected to the pull rod fixing shaft 84 through two width adjustment pull rods 86; wherein when the width adjustment drive shaft 44 rotates, the driven positioning pin 83 drives the width adjustment driven shaft 82 to slide up and down along the sinusoidal trajectory groove 81, and drives the rocker arm 22 to rotate through the width adjustment pull rod 86, thereby changing the angle between the rocker arm 22 and the rocker arm drive shaft 42, and then adjusting the swing amplitude of the rocker arm 21.

[0052] like Figure 8 As shown, in this embodiment, through the four-bar linkage composed of the width adjustment driven shaft 82, the rocker arm drive shaft 42, the rocker arm 22 and the width adjustment pull rod 86, when the width adjustment drive shaft 44 rotates counterclockwise, the driven positioning pin 83 slides in the sine trajectory slide groove 81 to achieve up and down movement, and then drives the width adjustment driven shaft 82 to move up and down, so as to change the angle between the rocker arm 22 and the central axis of the rocker arm drive shaft 42 ( Figure 8 The midpoint line is the central axis of the rocker arm drive shaft 42, and the dotted line is the central axis of the rocker arm 22).

[0053] When the spherical portion 222 is in the zero position of the swing with different swing amplitudes, the position of the spherical portion 222 in the arc-shaped slide slot hole 212 is as follows: Fig. 9 As shown, the dotted line is the swing axis, and the dotted line is the motion trajectory of the corresponding spherical portion 222. The specific process of adjusting the swing amplitude by the width adjustment mechanism 8 is as follows:

[0054] Since the tie rod fixing shaft 84 is fixed on the width adjustment driven shaft 82, when the width adjustment driven shaft 82 moves upward, the tie rod fixing shaft 84 drives the lower end of the width adjustment tie rod 86 to rise, so that the upper end of the width adjustment tie rod 86 drives the upper part of the rocker arm 22 to deviate from the center of the rocker arm drive shaft 42, and the spherical part 222 above the rocker arm 22 also deviates from the center of the rocker arm drive shaft 42. At this time, when the rocker arm drive shaft 42 drives the rocker arm 22 to rotate to drive the rocker arm 21 to swing, the spherical part 22 2 becomes larger, and the swing amplitude of the swing arm 21 also becomes larger; when the width adjustment driven shaft 82 moves downward, the pull rod fixing shaft 84 drives the lower end of the width adjustment pull rod 86 to descend, and the upper end of the width adjustment pull rod 86 drives the upper part of the swing arm 22 to deviate to the center of the rocker arm driving shaft 42. At this time, when the rocker arm driving shaft 42 drives the rocker arm 22 to rotate to drive the swing arm 21 to swing, the radius of the motion trajectory of the spherical portion 222 becomes smaller, and the swing amplitude of the swing arm 21 also becomes smaller.

[0055] In this embodiment, a sinusoidal oscillation mechanism is used, and the center position of the swing amplitude is not affected by the swing width, and the repeatability of the welding equipment is not affected during the automated operation.

[0056] In this embodiment, the driving mechanism 5 includes: a reducer mounting frame 51, which is installed below the base plate 11 and covers the outer side of the forward-reverse switching transmission mechanism 4 located below the base plate 11; a precision planetary reducer 52, which is installed below the reducer mounting frame 51 and has an output end connected to the input shaft 45; and a servo motor 53, which is connected to the input end of the precision planetary reducer 52 and is electrically connected to a control module; wherein the control module is suitable for controlling the servo motor 53 to drive the input shaft 45 to rotate clockwise or counterclockwise through the precision planetary reducer 52.

[0057] In this embodiment, the control module can be a control system of an industrial automatic welding manipulator or a rectangular coordinate welding robot. The output direction and speed of the servo motor can be set according to specific welding requirements, and the swing amplitude and frequency can be automatically adjusted according to the information feedback from the monitoring module.

[0058] In this embodiment, the automated high-speed oscillator further includes: an upper neodymium magnet 61, which is installed with an interference fit on the outer ring of the rocker arm drive shaft 42 located below the clockwise one-way bearing 41; a lower neodymium magnet 62, which is installed with an interference fit on the outer ring of the input shaft 45; two Hall sensors 63, both electrically connected to the control module, suitable for respectively detecting whether the upper neodymium magnet 61 is in the swing zero position and whether the lower neodymium magnet 62 is in the width adjustment zero position; wherein the control module is suitable for controlling the servo motor 53 to rotate counterclockwise when the Hall sensor 63 detects that the upper neodymium magnet 61 and the lower neodymium magnet 62 are respectively in the swing zero position and the width adjustment zero position, and when rotating to the angle corresponding to the preset swing amplitude, controlling the servo motor 53 to rotate clockwise.

[0059] In this embodiment, the control module first controls the servo motor 53 to rotate clockwise and output. When it is detected that the upper neodymium magnet 61 is in the zero position of the swing, that is, the swing arm 21 stops rotating at the center of the swing amplitude, the servo motor 53 is controlled to rotate counterclockwise and output. When it is detected that the lower neodymium magnet 62 is in the zero position of the width adjustment, that is, the driven positioning pin 3 is at the lowest point of the sinusoidal trajectory slide groove 81, the oscillator is in the zero position of the swing amplitude, and the servo motor 53 continues to be controlled to rotate counterclockwise and output. At this time, the oscillator is in the width adjustment mode; after the swing amplitude is adjusted to the preset value according to the parameters set by the system, the servo motor 53 is controlled to rotate clockwise and output, so that the swing arm 21 swings with a preset swing amplitude. At this time, the oscillator is in the swing mode, driving the welding gun fixedly clamped at the gun clamp assembly 3 to swing welding with a preset swing amplitude.

[0060] In this embodiment, when the oscillator is in a swinging state, the upper neodymium magnet 61 and the lower neodymium magnet 62 will periodically pass through the Hall sensor 63. The system can monitor the actual swing amplitude and swing frequency of the oscillator online through closed-loop detection of the phase angle and frequency of the upper neodymium magnet 61 and the lower neodymium magnet 62, so as to facilitate automatic adjustment, which can be applied to various unmanned operation occasions.

[0061] like Fig.10 As shown, in this embodiment, the gun clamp assembly 3 includes: a lower gun clamp 31, one side of which is provided with a recessed hole 32, suitable for being circumferentially fixed to the end of the swing arm 21 exposed outside the side plate 12 through a gun clamp connecting key, and axially fixed by screws; an insulating sleeve 33, suitable for being sleeved on the outer periphery of the welding gun; and an upper gun clamp 34, suitable for cooperating with the lower gun clamp 31 to fix and clamp the welding gun through the insulating sleeve 33.

[0062] In this embodiment, the lower gun clamp 31 and the upper gun clamp 34 are separately arranged, and the lower gun clamp 31 is fixedly connected to the end of the swing arm 21 exposed on the outside of the side plate 12, and cooperates with the upper gun clamp 34 through screws, which can meet the clamping requirements of different types of welding guns. The insulating sleeve 33 can prevent the gun clamps from causing wear to the outer wall of the welding gun during the swinging process, and can also prevent the welding gun from relative movement during the swinging process, so as to ensure the welding accuracy of the welding gun.

[0063] In this embodiment, a dust cover 7 is provided above the L-shaped mounting plate 1 .

[0064] In this embodiment, the dust cover 7 can prevent external dust from interfering with the normal operation of the swing mechanism 2, the width adjustment mechanism 8 and the forward and reverse switching transmission mechanism 4, thereby increasing the service life of the swing mechanism and reducing maintenance costs.

[0065] Example 2

[0066] Based on the above-mentioned embodiment 1, this embodiment also provides a working method of an automated high-speed oscillator, including: the output shaft of the driving mechanism 5 rotates counterclockwise, and the welding gun performs oscillating welding; and the output shaft of the driving mechanism 5 rotates clockwise to adjust the swing amplitude of the welding gun.

[0067] In this embodiment, the control module of the control system of the industrial automatic welding manipulator or the rectangular coordinate welding robot controls the servo motor 53 to rotate clockwise first so that the swing arm of the oscillator is at the center position of the swing amplitude, and then rotates counterclockwise to output so that the oscillator is at the minimum swing amplitude, that is, the swing amplitude zero position; then control the servo motor 53 to rotate counterclockwise to output, at this time the oscillator is in the width adjustment state, and according to the parameters set by the system, the servo motor 53 rotates to the angle corresponding to the preset swing amplitude to adjust the swing amplitude; continue to control the servo motor 53 to rotate clockwise to output, so that the oscillator is in the swinging state, and swings with a preset swing amplitude.

[0068] In summary, the swing mechanism 2 can convert the circular motion of the rocker arm 22 into the plane swing of the swing arm 21, and then the gun clamp assembly 3 at the other end of the swing arm 21 drives the welding gun to swing. The width adjustment mechanism 8 utilizes the design form of the sinusoidal swing mechanism, and the center position of the swing amplitude is not affected by the swing width, and the repeated positioning accuracy of the welding equipment is not affected during the automated operation. The control module can be a control system for an industrial automatic welding manipulator or a rectangular coordinate welding robot. The output direction and speed of the servo motor can be set according to specific welding requirements, and the swing amplitude and swing frequency can be automatically adjusted according to the information fed back by the monitoring module. When the oscillator is in a swinging state, the upper neodymium magnet 61 and the lower neodymium magnet 62 will periodically pass through the Hall sensor 63. The system can monitor the actual swing amplitude and swing frequency of the oscillator online by detecting the phase angle and frequency of the upper neodymium magnet 61 and the lower neodymium magnet 62 through a closed loop, so as to facilitate automatic adjustment, and can be applied to various unmanned operation occasions. The dust cover 7 can prevent external dust from interfering with the normal operation of the swing mechanism 2, the width adjustment mechanism 8 and the forward and reverse switching transmission mechanism 4, thereby increasing the service life of the swing device and reducing maintenance costs.

[0069] Based on the above ideal embodiments of the present invention, the relevant staff can make various changes and modifications without departing from the technical concept of the present invention through the above description. The technical scope of the present invention is not limited to the contents of the specification, and its technical scope must be determined according to the scope of the claims.

Claims

1. An automated high-speed oscillator, characterized in that: include: An L-shaped mounting plate (1) comprising a bottom plate (11) and a side plate (12) arranged vertically; The swing mechanism (2) is arranged on the side plate (12), and one end of the swing mechanism exposed from the side plate (12) is connected to a gun clamp assembly (3) for fixing and clamping a welding gun; A forward / reverse switching transmission mechanism (4) is arranged on the bottom plate (11) and is suitable for cooperating with the swing mechanism (2); The width adjustment mechanism (8) is arranged on the forward / reverse switching transmission mechanism (4) and cooperates with the swing mechanism (2); A driving mechanism (5) cooperates with the forward / reverse switching transmission mechanism (4); in When the driving mechanism (5) rotates clockwise to output, the clockwise / reverse switching transmission mechanism (4) is suitable for driving the swing mechanism (2) to swing so that the welding gun fixedly clamped by the gun clamp assembly (3) performs swing welding; When the driving mechanism (5) rotates counterclockwise to output, the forward / reverse switching transmission mechanism (4) is suitable for driving the width adjustment mechanism (8) to adjust the swing amplitude of the swing mechanism (2); The swing mechanism (2) comprises: A swing arm (21) is provided with a handle (211) at one end thereof, and an arc-shaped slide slot (212) is provided on the handle (211); the other end of the swing arm (21) is rotatably mounted on the inner side of the side plate (12), and the end exposed on the outer side of the side plate (12) is suitable for connecting with the gun clip assembly (3); Two rocker arms (22) are connected at their top ends by an arc-shaped rod (221), and a spherical portion (222) is provided at the center of the top of the arc-shaped rod (221), and the lower portion thereof is connected to the upper portion of the forward-reverse switching transmission mechanism (4); wherein The spherical portion (222) is suitable for clearance fit with the arc-shaped slide slot hole (212); and The driving mechanism (5) is suitable for driving the rocker arm (22) to rotate clockwise through the forward and reverse switching transmission mechanism (4); The forward and reverse switching transmission mechanism (4) comprises: A clockwise one-way bearing (41) adapted to be circumferentially fixedly mounted on the base plate (11) via a positive connection key; A rocker arm drive shaft (42) is adapted to be fixedly mounted circumferentially on the inner ring of the clockwise one-way bearing (41) via a forward connection key, and the upper part of the outer ring is adapted to be rotatably connected to the lower part of each rocker arm (22); A counterclockwise one-way bearing (43) adapted to be fixedly mounted circumferentially on the inner ring of the rocker arm drive shaft (42) via a reverse connection key; A width-adjusting drive shaft (44) is disposed inside the rocker drive shaft (42), and its lower end is adapted to extend into the inner ring of the counterclockwise one-way bearing (43); The input shaft (45) is arranged below the rocker arm drive shaft (42), and its upper end is suitable for extending into the inner ring of the counterclockwise one-way bearing (43), and is axially fixed to the width adjustment drive shaft (44) by screws; When the input shaft (45) rotates clockwise, the counterclockwise one-way bearing (43) is locked, and the clockwise one-way bearing (41) drives the rocker arm drive shaft (42) to rotate; When the input shaft (45) rotates counterclockwise, the clockwise one-way bearing (41) is locked, and the counterclockwise one-way bearing (43) drives the width adjustment drive shaft (44) to rotate; The width adjustment mechanism (8) comprises: A sinusoidal track slide groove (81) is arranged on the outer periphery of the width adjustment drive shaft (44) above the counterclockwise one-way bearing (43); The width-adjusting driven shaft (82) is sleeved on the width-adjusting driving shaft (44) and cooperates with the sinusoidal track slide groove (81) through a driven positioning pin (83), and a pull rod fixing shaft (84) is arranged on the top thereof; The pull rod connecting shaft (85) has two ends respectively mounted on the corresponding rocker arms (22) and is connected to the pull rod fixing shaft (84) via two width adjustment pull rods (86); wherein When the width adjustment drive shaft (44) rotates, the driven positioning pin (83) drives the width adjustment driven shaft (82) to slide up and down along the sinusoidal trajectory slide groove (81), and drives the rocker arm (22) to rotate through the width adjustment pull rod (86), thereby changing the angle between the rocker arm (22) and the rocker arm drive shaft (42), thereby adjusting the swing amplitude of the rocker arm (21).

2. The automated high-speed oscillator according to claim 1, characterized in that: The driving mechanism (5) comprises: A speed reducer mounting frame (51) is mounted below the base plate (11) and covers the outer side of the forward / reverse switching transmission mechanism (4) located below the base plate (11); A precision planetary reducer (52) is installed below the reducer mounting frame (51), and its output end is connected to the input shaft (45); and The servo motor (53) is connected to the input end of the precision planetary reducer (52) and is electrically connected to a control module; wherein The control module is suitable for controlling the servo motor (53) to drive the input shaft (45) to rotate clockwise or counterclockwise via the precision planetary reducer (52).

3. The automated high-speed oscillator according to claim 2, characterized in that: Also includes: An upper neodymium magnet (61) is installed with an interference fit on the outer ring of the rocker drive shaft (42) located below the clockwise one-way bearing (41); A lower neodymium magnet (62) is installed on the outer ring of the input shaft (45) with an interference fit; Two Hall sensors (63) are both electrically connected to the control module and are suitable for respectively detecting whether the upper neodymium magnet (61) is at a swing zero position and whether the lower neodymium magnet (62) is at a width adjustment zero position; in The control module is adapted to control the servo motor (53) to rotate counterclockwise when the Hall sensor (63) detects that the upper neodymium magnet (61) and the lower neodymium magnet (62) are respectively at the swing zero position and the width adjustment zero position, and to control the servo motor (53) to rotate clockwise when the servo motor (53) rotates to an angle corresponding to a preset swing amplitude.

4. The automated high-speed oscillator according to claim 1, characterized in that: The gun clip assembly (3) comprises: A lower gun clamp (31) is provided with a concave hole (32) on one side thereof, suitable for being circumferentially fixed to the end of the swing arm (21) exposed outside the side plate (12) through a gun clamp connecting key, and axially fixed through a screw; An insulating sleeve (33) is suitable for being sleeved on the outer periphery of the welding gun; The upper gun clamp (34) is suitable for cooperating with the lower gun clamp (31) to fix and clamp the welding gun through the insulating sleeve (33).

5. The automated high-speed oscillator according to claim 1, characterized in that: The upper cover of the L-shaped mounting plate (1) is provided with a dust cover (7).

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