Automatic welding device for microswitch manufacturing

Abstract

The invention relates to the technical field of microswitch machining, and discloses an automatic welding device for microswitch manufacturing, which is used for performing laser welding on a microswitch comprising a base and a rubber shell, and comprises an annular conveying line and a control system, and the conveying end of the annular conveying line is fixedly connected with a plurality of uniformly distributed rotary bases; the rotary base is used for bearing and positioning a microswitch, a gantry type three-axis motion platform is arranged above the annular conveying line, a pressure unit and an integrated welding head are arranged at the Z-axis moving end of the gantry type three-axis motion platform, and the pressure unit is used for applying local pressure to a to-be-welded area of the microswitch. And the integrated welding head is matched with the pressure unit. The integrated welding head and the accompanying pressure execution unit thereof can physically flatten the surface of a welding seam with tiny warpage in real time at the moment of laser energy injection, and it is ensured that a welding interface is in an ideal tight fit state.

Description

Technical Field

[0001] This invention relates to the field of micro switch manufacturing technology, specifically to an automatic welding device for manufacturing micro switches. Background Technology

[0002] Laser welding technology, with its advantages of concentrated energy, small heat-affected zone, and ease of automation, has become a key process in the packaging of precision electronic components such as microswitches. In typical production practice, pre-fitted plastic bases and housings are placed in a special fixture, and a pressure block applies overall downward pressure to eliminate gaps between them before welding. Subsequently, a laser beam scans and welds along a preset trajectory.

[0003] However, this seemingly mature process harbors profound technical bottlenecks in practical applications. During injection molding and subsequent storage, plastic parts inevitably experience micron-level warping and deformation due to stress release and environmental changes. Traditional global clamping methods apply pressure evenly across the entire workpiece surface, often failing to completely and effectively flatten such non-uniform, localized warping. This results in some areas of the weld still retaining physical gaps that are difficult to detect with the naked eye. When a high-energy laser beam passes through these areas, the welding energy cannot be effectively utilized at the tightly contacted interface, easily causing incomplete welds, missed welds, or uneven weld depth, directly compromising the sealing performance required by the microswitch and affecting its long-term reliability in harsh environments.

[0004] Furthermore, the heat generated during welding is another issue that cannot be ignored. While the laser energy melts the plastic, some heat inevitably transfers into the workpiece. Microswitches contain highly temperature-sensitive metal springs, contacts, and other precision components; their mechanical and electrical properties are extremely sensitive to temperature changes. Existing welding fixtures focus more on positioning and clamping functions in their design, neglecting the management of the heat generated during welding. This allows heat to easily accumulate inside the workpiece and penetrate into core functional areas, potentially causing annealing, stress relaxation, or oxidation of metal components. This alters the switch's trigger force, rebound characteristics, and even contact resistance, posing a potential threat to the product's final performance and lifespan.

[0005] Meanwhile, the success of the entire welding process is highly dependent on the positioning accuracy of the workpiece. The preset welding trajectory is fixed, requiring each workpiece to be precisely placed in the theoretical position of the fixture. Any slight positional deviation caused by errors in the loading robot, dimensional tolerances between workpiece batches, or wear of the fixture itself will cause the laser focus to deviate from the actual weld center. The consequences range from affecting the weld's appearance to directly causing welding failure. This excessive reliance on mechanical precision not only increases the design and maintenance costs of the equipment but also limits the flexibility and fault tolerance of the production process. Therefore, existing technologies are particularly rigid and lack adaptability in dealing with workpiece inconsistencies and positioning errors, making it difficult to meet the ever-increasing demands for quality and efficiency. Summary of the Invention

[0006] The technical problem this invention aims to solve is to provide an automated welding device and method for manufacturing microswitches that overcomes the shortcomings of existing technologies. Existing laser welding processes for microswitches typically employ static, global clamping methods, which are insufficient to effectively address the inherent minute warping deformations of plastic parts. This easily leads to physical gaps at the weld seam, resulting in welding defects such as incomplete welds and missed welds, affecting the product's sealing performance and reliability. Furthermore, if the heat generated during welding is not effectively managed, it may accumulate and damage the precision metal springs and contacts inside the switch.

[0007] To achieve the above objectives, the present invention provides the following technical solution: an automatic welding device for manufacturing microswitches, used for laser welding of microswitches including a base and a housing, comprising a ring conveyor line and a control system. The conveying end of the ring conveyor line is fixedly connected to multiple uniformly distributed rotating bases, which are used to support and position the microswitches. A gantry-type three-axis motion platform is arranged above the ring conveyor line. The Z-axis moving end of the gantry-type three-axis motion platform is equipped with a pressure unit and an integrated welding head. The pressure unit applies local pressure to the area of ​​the microswitches to be welded. The integrated welding head is connected to the Z-axis moving end via a linear motor. The control system controls the movement of the gantry-type three-axis motion platform and synchronously controls the pressure unit to dynamically and continuously apply local pressure to points on the welding path.

[0008] The core innovation of this invention lies in its revolutionary approach to the traditional process of "static pressing followed by scanning and welding." By integrating a pressure unit with an integrated welding head, pressure and energy are highly synchronized in time and space. As the gantry-type three-axis motion platform drives the integrated welding head along the weld seam, the pressure unit continuously applies concentrated, localized pressure to the welding point or the upper shell near the welding point. This "following" dynamic localized pressurization can physically flatten the weld seam surface with slight warping in real time, ensuring that the welding interface is in an ideal "zero-gap" fit at the moment of laser energy injection. This fundamentally eliminates welding defects caused by workpiece geometric tolerances and significantly improves the consistency of welding quality.

[0009] Preferably, the rotating base includes a mounting base, the bottom wall of which is fixedly connected to the conveying end of the annular conveyor line, an electric turntable is fixedly connected to the upper surface of the mounting base, a base is fixedly connected to the rotating surface of the electric turntable, and a groove matching the bottom contour of the base is formed on the upper surface of the base, and an insertion hole for the pin seat of the base is formed in the groove.

[0010] Preferably, the base has a cooling channel inside, and the inlet and outlet of the cooling channel are connected to the input and output ends of the cooling circulation equipment, respectively. This structure actively and quickly dissipates the heat generated on the plastic base during welding, achieving targeted heat management, effectively preventing heat accumulation inside the switch, and protecting the internal precision components from heat damage.

[0011] Preferably, a support rod is fixedly connected to the edge of the upper surface of the mounting base plate. A sliding area is provided on the upper part of the support rod. A limit ring is sleeved and slidably connected to the sliding area. The limit ring is sleeved on the outside of the plastic shell and is used to limit the plastic shell.

[0012] Preferably, the pressure unit includes a sleeve, the outer wall of which is fixedly connected to the Z-axis moving end of the gantry-type three-axis motion platform. A slide rod is inserted and slidably connected inside the sleeve, and a ball bearing is provided at the bottom end of the slide rod. A voice coil motor is also fixedly connected to the Z-axis moving end of the gantry-type three-axis motion platform. The voice coil motor is positioned above the sleeve, and the output end of the voice coil motor is fixedly connected to the top end of the slide rod.

[0013] Preferably, the outer wall of the sleeve is also provided with a displacement sensor, the detection end of which is level with and close to the lowest point of the ball, for real-time detection of the Z-axis displacement of the upper surface of the housing. The control system adjusts the output of the voice coil motor in real time according to the change data of the Z-axis displacement to compensate for the warping deformation after the housing and the base are spliced.

[0014] Preferably, the integrated welding head includes a laser focusing optical path and a vision unit. The laser focusing optical path is used to output a welding laser beam, and the vision unit is used to capture the weld seam image of the path to be welded in real time. The control system calculates the deviation between the actual weld seam path and the preset path based on the weld seam image and corrects the motion trajectory of the gantry three-axis motion platform in real time.

[0015] Preferably, one side of the circular conveyor line is a feeding area and the other side is a discharging area. Guide frames are provided in both the feeding and discharging areas. When the micro switch passes through the guide frame, the limiting ring rises and falls along the guide path of the guide frame under the limiting action of the guide frame, so that the limiting ring separates from the rubber shell.

[0016] This invention provides an automated welding apparatus for manufacturing microswitches. It offers the following advantages: 1. This invention utilizes the coordinated operation of an integrated welding head and a pressure unit. The integrated welding head and its accompanying pressure actuator can, in real-time and physically, flatten the weld surface, even with slight warping, at the instant of laser energy injection, ensuring an ideal, tight fit at the weld interface. This design fundamentally eliminates physical gaps caused by workpiece geometric tolerances, thereby guaranteeing the density and uniformity of the weld, and playing a decisive role in improving the sealing level and structural reliability of microswitches.

[0017] 2. This invention utilizes a base precisely matched to the shape of the microswitch's base. This structure actively and rapidly guides and dissipates heat from the area near the internal thermistor, effectively preventing heat penetration and accumulation inside the switch. This proactive heat flow management effectively protects core components such as precision springs and contacts inside the switch, ensuring the electrical performance stability and long service life of the product after undergoing welding thermal cycles.

[0018] 3. This invention, through the combination of a vision unit, a gantry-type three-axis motion platform, and a linear motor, enables the device to identify and track the actual weld path in real time. It can instantly compensate for XY plane deviations caused by inaccurate workpiece placement on the base or dimensional differences between batches of plastic parts. This significantly reduces the reliance on high-precision workpiece positioning in the early stages, simplifies the complexity of loading and unloading fixtures, and improves the overall robustness and yield of the welding process.

[0019] 4. This invention utilizes a closed-loop collaboration between a displacement sensor and a voice coil motor, enabling the welding head to precisely sense and adapt to the microscopic contour undulations of the workpiece surface. Instead of applying a constant, indiscriminate force, the system performs adaptive pressure compensation based on real-time Z-axis displacement data, ensuring a highly consistent clamping effect on the weld seam regardless of whether it's in a flat or warped area of ​​the workpiece. This guarantees a high degree of uniformity in welding depth and strength along the entire complex weld seam path.

[0020] 5. This invention deeply integrates path tracking using visual servoing with force control adjustment based on displacement feedback, transforming the welding process from a rigid, pre-programmed execution mode into an intelligent operation mode with real-time compensation for three-dimensional spatial errors. It can simultaneously handle workpiece positional offsets on the horizontal plane and morphological warping in the vertical direction. This comprehensive adaptive capability makes the entire welding process highly tolerant of the dimensional consistency of incoming materials and the positioning accuracy of assembly, which has significant practical implications for achieving large-scale, high-quality, and stable automated production. Attached Figure Description

[0021] Figure 1 This is a perspective view of the present invention; Figure 2 This is a side view of the pressure unit in this invention; Figure 3 This is a front view schematic diagram of the pressure unit in this invention; Figure 4 This is a schematic diagram of the pressure unit in this invention; Figure 5 This is a schematic diagram of the rotating base in this invention; Figure 6 This is a schematic diagram of the base structure in this invention.

[0022] Among them, 10 is a circular conveyor line; 20 is a rotating base; 201 is a mounting base; 202 is an electric turntable; 203 is a base; 2031 is a groove; 2032 is an insertion hole; 2033 is a cooling channel; 204 is a support rod; 2041 is a sliding area; 205 is a limit ring; 30 is a gantry-type three-axis motion platform; 40 is a pressure unit; 401 is a sleeve; 402 is a slide rod; 403 is a ball bearing; 404 is a voice coil motor; 405 is a displacement sensor; 50 is an integrated welding head; and 60 is a linear motor. Detailed Implementation

[0023] 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.

[0024] Please see the appendix Figure 1 -Appendix Figure 6 This invention provides an automated welding device for manufacturing microswitches, used for laser welding of microswitches including a base and a housing. The overall design of the device aims to achieve a high-precision, adaptive welding process. It includes a circular conveyor line 10 and a control system. Multiple evenly distributed rotating bases 20 are fixedly connected to the conveying end of the circular conveyor line 10. The rotating bases 20 are used to support and position the microswitches. Through the cyclical conveying action of the circular conveyor line 10, the entire welding process is transformed into a reciprocating cycle of loading, welding, and unloading.

[0025] A gantry-type three-axis motion platform 30 is installed above the circular conveyor line 10. The Z-axis moving end of the gantry-type three-axis motion platform 30 is equipped with a pressure unit 40 and an integrated welding head 50. The pressure unit 40 is used to apply local pressure to the area to be welded by the micro switch. The integrated welding head 50 is connected to the Z-axis moving end through a linear motor 60. The control system is used to control the movement of the gantry-type three-axis motion platform 30 and synchronously control the pressure unit 40 to dynamically and continuously apply local pressure to the points on the welding path.

[0026] The gantry-type three-axis motion platform 30 is the foundation for achieving precise welding. Based on the principle of direct electromagnetic drive, there is no mechanical contact or transmission connection between its mover (usually equipped with coils) and stator (usually equipped with permanent magnets). This direct drive characteristic fundamentally eliminates the problems of backlash, elastic deformation, and wear present in traditional ball screw or synchronous belt drives. Therefore, the gantry-type three-axis motion platform 30 can provide extremely high acceleration and deceleration performance and excellent contour tracking accuracy, ensuring smooth speed and rapid response when driving the integrated welding head 50 along the complex weld contour of the microswitch. This provides the necessary dynamic performance foundation for subsequent real-time path correction based on visual feedback. When the microswitch enters the welding area, the gantry-type three-axis motion platform 30 drives the integrated welding head 50 to move at high speed and smoothly along the welding path. At the same time, the rotating base 20 periodically drives the microswitch to rotate 90° according to a preset program to achieve complete welding of the four-sided weld.

[0027] The rotating base 20 includes a mounting base 201. The bottom wall of the mounting base 201 is fixedly connected to the conveying end of the annular conveyor line 10. An electric turntable 202 is fixedly connected to the upper surface of the mounting base 201. A base 203 is fixedly connected to the rotating surface of the electric turntable 202. A groove 2031 matching the contour of the bottom of the base is formed on the upper surface of the base 203, and an insertion hole 2032 for inserting a pin into the base is formed in the groove 2031. A cooling channel 2033 is formed inside the base 203, and the inlet and outlet of the cooling channel 2033 are respectively connected to the input and output ends of the cooling circulation equipment.

[0028] The base 203 is made of a metal material with high thermal conductivity, such as copper alloy or copper tellurium, and is precision CNC machined. Its structure is not a simple support platform, but a composite structure integrally formed with a groove 2031 and a socket 2032 based on the three-dimensional contour of the bottom of the microswitch's plastic base. During welding, the groove 2031 forms a large-area, tight physical contact with the outer wall of the plastic base, and the inner wall of the socket 2032 forms a tight physical contact with the pin seat, creating a pre-designed, low-thermal-resistance conduction path. This allows the heat generated during welding to be actively and directionally dissipated from the critical area, thus achieving "targeted" heat management.

[0029] A support rod 204 is fixedly connected to the edge of the upper surface of the mounting base 201. A sliding area 2041 is provided on the upper part of the support rod 204. A limit ring 205 is sleeved and slidably connected to the sliding area 2041. The limit ring 205 is sleeved on the outside of the plastic shell and is used to limit the plastic shell. One side of the circular conveyor line 10 is a loading area and the other side is a unloading area. Guide frames are provided in both the loading and unloading areas. When the micro switch passes through the guide frame, the limit ring 205 rises and falls along the guide path of the guide frame under the limiting action of the guide frame, so that the limit ring 205 separates from the plastic shell.

[0030] The limiting ring 205 limits the movement of the rubber shell, ensuring that the upper rubber shell does not separate from the lower base when the micro switch moves with the circular conveyor line 10 or is subjected to local pressure by the pressure unit 40. The guide frame is configured as an upwardly convex arc-shaped track. When the limiting ring 205 moves to the loading / unloading area, one end of the guide frame enters below the limiting ring 205. With the continuous movement of the circular conveyor line 10, the limiting ring 205 moves along the preset trajectory of the guide frame, thereby achieving the raising and lowering of the limiting ring 205.

[0031] The pressure unit 40 includes a sleeve 401, the outer wall of which is fixedly connected to the Z-axis moving end of the gantry-type three-axis motion platform 30. A slide rod 402 is inserted and slidably connected inside the sleeve 401, and a ball bearing 403 is provided at the bottom end of the slide rod 402. A voice coil motor 404 is also fixedly connected to the Z-axis moving end of the gantry-type three-axis motion platform 30. The voice coil motor 404 is positioned above the sleeve 401, and its output end is fixedly connected to the top end of the slide rod 402. The voice coil motor 404 operates based on the Lorentz force principle, and its output thrust is precisely linearly proportional to the input current, with extremely low inertia of its moving parts. These characteristics enable it to achieve millisecond-level force control response speed and nanometer-level position resolution, allowing for high-frequency, fine-grained dynamic adjustments based on feedback signals from a high-precision displacement sensor. The outer wall of the sleeve 401 is also equipped with a displacement sensor 405, whose detection end is level with and close to the lowest point of the ball 403. It is used to detect the Z-axis displacement of the upper surface of the housing in real time. The control system adjusts the output of the voice coil motor 404 in real time according to the change data of the Z-axis displacement to compensate for the warping deformation after the housing and the base are spliced.

[0032] The integrated welding head 50 includes a laser focusing optical path and a vision unit. The laser focusing optical path outputs the welding laser beam, which is transmitted from an external laser via optical fiber. The laser beam is shaped and focused by an internal collimating lens group and focusing lens group to ensure that a spot with energy density and spot size that meets the process requirements is formed at the weld interface. The vision unit is used to capture the weld image of the path to be welded in real time. The control system calculates the deviation between the actual weld path and the preset path based on the weld image and corrects the motion trajectory of the gantry-type three-axis motion platform 30 in real time.

[0033] The complete workflow performed by the welding equipment is as follows: The entire workflow begins in the welding preparation stage. After the microswitch components, namely the base and the housing, are joined, the base is placed on the platform 203, allowing the microswitch to be welded to be transported to the welding area via the circular conveyor line 10. The circular conveyor line 10 then pauses operation, and the control system controls the gantry-type three-axis motion platform 30 to drive the vision unit of the integrated welding head 50 to move, first performing a global positioning. Through image recognition algorithms, it quickly determines the approximate position and orientation of the microswitch to be welded within the working plane and guides the welding head to the vicinity of the starting area of ​​the welding path. Subsequently, the control system enters the precise path calibration stage. The gantry-type three-axis motion platform 30 drives the integrated welding head 50, and in conjunction with the rotation of the rotating base 20, the vision system of the integrated welding head 50 performs a rapid pre-scan of the weld seam of the actual workpiece along the theoretical CAD path stored in the central control system. During this process, the vision system acquires the precise coordinates of several key feature points on the weld seam and compares them with theoretical values ​​to calculate the translational and rotational errors of the specific workpiece in the XY plane. Based on this error data, the control system performs an affine transformation on the theoretical path to generate a motion trajectory that perfectly matches the actual pose of the current workpiece and has undergone initial correction.

[0034] After establishing a precise horizontal motion trajectory, the control system then establishes an adaptive reference plane in the Z-axis direction. The gantry-type three-axis motion platform 30 drives the integrated welding head 50 to move directly above the starting point of the corrected trajectory, while the pressure unit 40 slowly descends with a very small preset force. During this process, the displacement sensor monitors the absolute position of the Z-axis in real time at high frequency. The moment the pressure unit 40 makes physical contact with the workpiece surface, the displacement sensor reading will produce a clear step change. When the control system captures this signal, it immediately latches the Z-axis coordinate at this moment and defines it as the reference height for welding the workpiece. This step effectively eliminates the initial Z-axis error introduced by differences in individual workpiece heights or minor unevenness of the base surface.

[0035] Once all welding preparations are complete, the control system activates the integrated welding head 50, the gantry-type three-axis motion platform 30, and the rotating base 20, entering the core welding execution phase. During this phase, two key closed-loop control processes operate synchronously and in parallel, constituting the core technical principle of this invention. The first is a visual servo tracking closed loop operating in the XY plane. The vision unit of the integrated welding head 50 continuously captures images of the weld area to be welded in front of it, and uses image processing algorithms to calculate in real time the minute deviation vector between the actual weld centerline and the current theoretical tool center point. This deviation vector, as a real-time error signal, is continuously fed to the controller of the gantry-type three-axis motion platform 30 and the controller of the linear motor 60, which dynamically fine-tune the motion commands accordingly, ensuring that the laser focus always precisely follows the physical center of the actual weld, rather than rigidly executing a preset trajectory.

[0036] Meanwhile, the second aspect is the adaptive force control closed loop operating in the Z-axis direction. Throughout the movement of the gantry-type three-axis motion platform 30 along the weld seam, displacement sensors continuously measure the real-time Z-axis position of the point where pressure will be applied. The control system compares this real-time position with a previously calibrated welding reference height; the difference accurately reflects the amount of local warping on the workpiece surface at the current position. This warping signal is input to a force control algorithm model, which dynamically adjusts the drive current applied to the voice coil motor 404 in real time. The control objective is to compensate for this geometric deformation through the millisecond-level rapid response of the voice coil motor 404, regardless of the workpiece surface undulations, ultimately ensuring that the local pressure applied to the weld seam remains constant, or that the pressure actuation unit can always flatten the warped surface to a uniform reference height, thereby physically eliminating the existence of welding gaps.

[0037] 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. An automated welding apparatus for manufacturing microswitches, used for laser welding microswitches comprising a base and a housing, comprising a ring conveyor line (10) and a control system, characterized in that, The conveying end of the annular conveyor line (10) is fixedly connected to multiple uniformly distributed rotating bases (20). The rotating bases (20) are used to support and position the micro switch. A gantry-type three-axis motion platform (30) is set above the annular conveyor line (10). The Z-axis moving end of the gantry-type three-axis motion platform (30) is equipped with a pressure unit (40) and an integrated welding head (50). The pressure unit (40) is used to apply local pressure to the area to be welded of the micro switch. The integrated welding head (50) is connected to the Z-axis moving end through a linear motor (60). The control system is used to control the movement of the gantry-type three-axis motion platform (30) and synchronously control the pressure unit (40) to dynamically and continuously apply local pressure to the points on the welding path.

2. The automatic welding device for manufacturing micro switches according to claim 1, characterized in that, The rotating base (20) includes a mounting base (201), the bottom wall of which is fixedly connected to the conveying end of the annular conveyor line (10). An electric turntable (202) is fixedly connected to the upper surface of the mounting base (201), and a base (203) is fixedly connected to the rotating surface of the electric turntable (202). A groove (2031) matching the bottom contour of the base is opened on the upper surface of the base (203), and an insertion hole (2032) for inserting the pin seat of the base is opened in the groove (2031).

3. An automatic welding device for manufacturing micro switches according to claim 2, characterized in that, The base (203) has a cooling channel (2033) inside, and the inlet and outlet of the cooling channel (2033) are connected to the input end and output end of the cooling circulation equipment, respectively.

4. An automatic welding device for manufacturing micro switches according to claim 2, characterized in that, A support rod (204) is fixedly connected to the edge of the upper surface of the mounting base plate (201). A sliding area (2041) is provided on the upper part of the support rod (204). A limit ring (205) is sleeved and slidably connected to the sliding area (2041). The limit ring (205) is sleeved on the outside of the shell and is used to limit the shell.

5. An automatic welding device for manufacturing micro switches according to claim 1, characterized in that, The pressure unit (40) includes a sleeve (401), the outer wall of which is fixedly connected to the Z-axis moving end of the gantry three-axis motion platform (30). A slide rod (402) is inserted and slidably connected inside the sleeve (401). A ball bearing (403) is provided at the bottom end of the slide rod (402). A voice coil motor (404) is also fixedly connected to the Z-axis moving end of the gantry three-axis motion platform (30). The voice coil motor (404) is arranged above the sleeve (401), and the output end of the voice coil motor (404) is fixedly connected to the top end of the slide rod (402).

6. An automatic welding apparatus for manufacturing micro switches according to claim 5, characterized in that, The outer wall of the sleeve (401) is also provided with a displacement sensor (405), the detection end of which is level with the lowest point of the ball (403) and close to the lowest point of the ball (403), for real-time detection of the Z-axis displacement of the upper surface of the rubber shell. The control system adjusts the output of the voice coil motor (404) in real time according to the change data of the Z-axis displacement to compensate for the warping deformation after the rubber shell and the base are spliced.

7. An automatic welding device for manufacturing micro switches according to claim 1, characterized in that, The integrated welding head (50) includes a laser focusing optical path and a vision unit. The laser focusing optical path is used to output a welding laser beam, and the vision unit is used to capture the weld image of the path to be welded in real time. The control system calculates the deviation between the actual weld path and the preset path based on the weld image and corrects the motion trajectory of the gantry three-axis motion platform (30) in real time.

8. An automatic welding device for manufacturing micro switches according to claim 4, characterized in that, One side of the circular conveyor line (10) is the loading area and the other side is the unloading area. Guide frames are provided in both the loading area and the unloading area. When the micro switch passes through the guide frame, the limit ring (205) rises and falls along the guide path of the guide frame under the limiting action of the guide frame, so that the limit ring (205) separates from the rubber shell.

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