Swing device

Abstract

The utility model relates to the technical field of welding equipment, and discloses a swing device which comprises a base, a rotating seat, a swing arm and a clamping piece, the rotating seat is rotatably arranged in the base, the swing arm is fixedly connected to one end, extending out of the base, of the rotating seat, the clamping piece is rotatably arranged on the swing arm and is provided with a clamping hole, and the clamping hole is communicated with the rotating seat. The rotating axis, relative to the swing arm, of the clamping piece and the rotating axis of the rotating base are perpendicular to each other and intersect at an intersection point, and the axis of the clamping hole penetrates through the intersection point. The swinging device is compact in overall structure, high in integration level and small in overall size, so that the swinging device can be suitable for being used in a narrow space, and the operation tool can form various different swinging tracks and actions in the operation process.

Description

Technical Field

[0001] The utility model belongs to the technical field of mechanical equipment, and particularly relates to a swing device. Background Art

[0002] Oscillating devices are widely used in many industries to drive working tools to swing. For example, in the field of welding, an oscillating device is often used to clamp the welding gun to drive the welding gun to swing back and forth laterally between the two sides of the welding direction at a certain frequency during the welding process. In this way, the heat distribution of the formed weld can be more uniform, and the width and depth of the weld can be effectively increased, thereby improving the quality and strength of the weld. However, the existing oscillating devices have a low degree of integration and a large volume, making them unsuitable for use in narrow spaces. In addition, the oscillating device can only drive the working tool to swing laterally, and the swinging trajectory and movement are relatively simple, which cannot meet different process requirements. The use of existing oscillating devices in other industries also has the same problems. Utility Model Content

[0003] In view of the above-mentioned defects or shortcomings, the present invention provides a swing device, which aims to solve the technical problems of the existing swing device, such as being unsuitable for use in a narrow space and having a relatively simple swing trajectory and movement.

[0004] To achieve the above object, the present invention provides a swing device, which includes:

[0005] base;

[0006] a rotating seat rotatably disposed in the base;

[0007] A swing arm, fixedly connected to one end of the rotating seat extending from the base;

[0008] a clamping member rotatably disposed on the swing arm and provided with a clamping hole;

[0009] Wherein, the rotation axis of the clamping member relative to the swing arm and the rotation axis of the rotating seat are perpendicular to each other and intersect at an intersection, and the axis of the clamping hole passes through the intersection.

[0010] Optionally, the swing device also includes a first drive component and a transmission rod, the first drive component is arranged in the rotating seat, the first end of the transmission rod extends into the rotating seat and is driven and connected to the first drive component, and the second end is driven and connected to the clamping member, wherein the transmission rod can move relative to the rotating seat under the drive of the first drive component to drive the clamping member to rotate relative to the swing arm.

[0011] Optionally, the first end of the transmission rod is connected to a screw, the central axis of the screw is coaxially arranged with the rotation axis of the rotating seat and is sleeved with a nut, the nut is connected to the first driving assembly, and the rotating seat is fixedly connected with a stop member, and the stop member cooperates with the screw to stop rotation, wherein the nut can rotate relative to the rotating seat under the drive of the first driving assembly to drive the transmission rod to move relative to the rotating seat along the extension direction of the rotation axis of the rotating seat, thereby driving the clamping member to rotate relative to the swing arm.

[0012] Optionally, a slot extending in the axial direction is provided on the outer peripheral wall of the lead screw, and the anti-rotation member is configured as a anti-rotation pin with one end inserted into the slot.

[0013] Optionally, the first drive assembly is a frameless motor and includes a first rotor and a first stator. The first rotor is arranged around the rotation axis of the rotating seat and is fixedly connected to the nut. The first stator is arranged around the first rotor and is fixedly connected to the rotating seat. The first rotor and the first stator are both arranged between the nut and the rotating seat.

[0014] Optionally, the swing device further comprises a first encoder arranged between the nut and the rotating seat, the stator of the first encoder is fixedly connected to the rotating seat, and the rotor of the first encoder is fixedly connected to the nut.

[0015] Optionally, the clamping member is fixedly connected to a transmission gear, the central axis of the transmission gear is coaxially arranged with the rotation axis of the clamping member relative to the swing arm, and the second end of the transmission rod is connected to a spur rack, which is meshed with the transmission gear.

[0016] Optionally, the transmission gear is rotatably mounted on the swing arm, and the spur rack is movably mounted on the swing arm.

[0017] Optionally, the swing device further includes:

[0018] a transmission seat, rotatably disposed between the rotating seat and the base around a rotation axis of the rotating seat;

[0019] a second driving assembly, disposed between the transmission seat and the base and capable of driving the transmission seat to rotate;

[0020] a sun gear, arranged around the rotation axis of the rotating base and fixedly connected to the transmission base;

[0021] a fixed ring gear, arranged around the sun gear and fixedly connected to the base;

[0022] The planetary gears are respectively engaged with the fixed ring gear and the sun gear, and the wheel shaft is fixedly connected to the rotating seat.

[0023] Optionally, the second drive assembly is a frameless motor and includes a second rotor and a second stator, the second rotor is arranged around the rotation axis of the rotating seat and fixedly connected to the transmission seat, and the second stator is arranged around the second rotor and fixedly connected to the base.

[0024] Optionally, the swing device further includes a second encoder arranged between the base and the transmission seat, the stator of the second encoder is fixedly connected to the base, and the rotor of the second encoder is fixedly connected to the transmission seat.

[0025] Optionally, the first end of the swing arm is fixedly connected to the rotating seat, and the second end extends in a direction away from the base, and the clamping member is provided on the second end of the swing arm.

[0026] Through the above technical solution, the swing device provided by the embodiment of the utility model has the following beneficial effects:

[0027] In the swinging device of the present invention, the working tool can be clamped in the clamping hole of the clamping part. During the operation, the working tool can be swung in the longitudinal direction by rotating the clamping part relative to the swing arm. The rotating seat can be driven to rotate with the rotating seat relative to the base, so that the working tool can swing in the transverse direction. In this way, the working tool can be swung in the longitudinal and transverse directions at the same time during the operation to form a variety of different swinging trajectories and movements. In this way, a variety of different process requirements can be met. In addition, the rotating seat is arranged in the base. Such an arrangement makes the overall structure of the swinging device more compact and the integration higher. The overall volume can be designed to be smaller, so that it can be suitable for use in narrow spaces.

[0028] Other features and advantages of the present invention will be described in detail in the subsequent specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The accompanying drawings are used to provide an understanding of the present invention and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present invention but do not constitute a limitation of the present invention. In the accompanying drawings:

[0030] Figure 1 A schematic structural diagram of a swing device provided in a specific embodiment of the utility model;

[0031] Figure 2 for Figure 1 Schematic diagram of the anti-rotation cooperation structure between the anti-rotation member and the screw section of the transmission rod.

[0032] Description of the accompanying drawings in the embodiment of the utility model

[0033] Specific embodiments

[0035] The following is a detailed description of the specific embodiments of the present invention in conjunction with the accompanying drawings. It should be understood that the specific embodiments described herein are only used to illustrate and explain the present invention and are not intended to limit the present invention.

[0036] The following describes the swing device and soft-pack battery of the present invention with reference to the accompanying drawings.

[0037] The utility model first provides a swing device.

[0038] In one embodiment, referring to the attached Figure 1 As shown, the swing device includes:

[0039] base 100;

[0040] The rotating seat 200 is rotatably disposed in the base 100;

[0041] The swing arm 300 is fixedly connected to one end of the rotating base 200 extending from the base 100;

[0042] The clamping member 400 is rotatably disposed on the swing arm 300 and is provided with a clamping hole;

[0043] The rotation axis of the clamping member 400 relative to the swing arm 300 and the rotation axis of the rotating base 200 are perpendicular to each other and intersect at an intersection, and the axis of the clamping hole passes through the intersection.

[0044] In the swinging device of this embodiment, the working tool can be clamped in the clamping hole of the clamping member 400. During the operation, the clamping member 400 is rotated relative to the swing arm 300, so that the working tool can be swung in the longitudinal direction. The rotating seat 200 is rotated relative to the base 100, which drives the clamping member 400 to rotate with the rotating seat 200, so that the working tool can be swung in the transverse direction. In this way, the working tool can be swung in the longitudinal and transverse directions at the same time during the operation to form a variety of different swinging trajectories and movements, such as straight trajectories, elliptical trajectories, circular trajectories, zigzag trajectories and "8" shaped trajectories, etc. In this way, a variety of different process requirements can be met; in addition, the rotating seat 200 is arranged in the base 100. In this way, the overall structure of the swinging device is relatively compact, the integration is high, and the overall volume can be designed to be smaller, so that it can be suitable for use in narrow spaces.

[0045] In actual application, the clamping member 400 can be a welding gun chuck, a laser transmitter chuck, a spray gun chuck, etc., corresponding to clamping a welding gun, a laser transmitter, a spray gun, etc. For ease of understanding, the specific use process of the swing device is described by taking the clamping member 400 as a welding gun chuck as an example:

[0046] The welding gun can be clamped in the clamping hole of the clamping member 400, and the extension direction of the rotation axis of the rotating seat 200 is used as the welding direction of the welding gun. During the welding operation, the clamping member 400 is rotated relative to the swing arm 300, so that the welding gun can swing in the longitudinal direction, that is, in the welding direction. By rotating the rotating seat 200 relative to the base 100, the clamping member 400 can be driven to rotate with the rotating seat 200, so that the welding gun can swing back and forth laterally between the two sides in the welding direction. In this way, the welding gun can swing in the welding direction and back and forth laterally between the two sides in the welding direction at the same time during the welding process, so as to form a variety of different swing trajectories and actions in combination to meet different welding process requirements.

[0047] It can be understood that the clamping hole of the clamping member 400 is set to have an axis passing through the intersection of the rotation axis of the clamping member 400 relative to the swing arm 300 and the rotation axis of the rotating seat 200. With this setting, the axis of the working tool clamped in the clamping hole can coincide with the axis of the clamping hole, passing through the intersection of the rotation axis of the clamping member 400 relative to the swing arm 300 and the rotation axis of the rotating seat 200. During the rotation of the clamping member 400 relative to the rotating seat 200 and the rotation driven by the rotating seat 200, the working tool in the clamping hole can swing longitudinally and transversely with the intersection as the center. In this way, the swing trajectory of the working tool is easy to calculate and predict, which provides a good basis for the precise control of the swing trajectory of the working tool.

[0048] In one embodiment, the swinging device also includes a first drive component 500 and a transmission rod 730. The first drive component 500 is arranged in the rotating seat 200. The first end of the transmission rod 730 extends into the rotating seat 200 and is driven and connected to the first drive component 500, and the second end is driven and connected to the clamping member 400. The transmission rod 730 can move relative to the rotating seat 200 under the drive of the first drive component 500 to drive the clamping member 400 to rotate relative to the swing arm 300.

[0049] In this embodiment, the first drive assembly 500 can drive the clamping member 400 to rotate relative to the swing arm 300 by driving the transmission rod 730. In this way, the longitudinal swinging of the working tool on the clamping member can be automated, and the longitudinal swing angle of the working tool can be arbitrarily adjusted online. In addition, through the transmission action of the transmission rod 730, the first drive assembly 500 can be set within the rotating base 200. In this way, the compactness and integration of the overall structure of the swinging device can be further improved, and the rotation movement of the clamping member 400 with the rotating base 200 and the rotation movement of the clamping member 400 relative to the rotating base 200 can be independent of each other. With this arrangement, when performing the trajectory decoupling calculation of the working tool, no supplementation is required due to the linkage generated by the two rotation movements, and the trajectory decoupling calculation is simple.

[0050] In one embodiment, referring to the attached Figure 1 As shown, the first end of the transmission rod 730 is connected to the lead screw 760, the central axis of the lead screw 760 is coaxially arranged with the rotation axis of the rotating seat 200 and is sleeved with a nut 710, the nut 710 is connected to the first drive assembly 500, and the rotating seat 200 is fixedly connected with a stop member 740, and the stop member 740 cooperates with the lead screw 760 to stop rotation, wherein the nut 710 can rotate relative to the rotating seat 200 under the drive of the first drive assembly 500, so as to drive the transmission rod 730 to move relative to the rotating seat 200 along the extension direction of the rotation axis of the rotating seat 200, and then drive the clamping member 400 to rotate relative to the swing arm 300.

[0051] It can be understood that when the nut 710 rotates under the drive of the first drive assembly 500, the screw 760 will only move axially due to the anti-rotation cooperation with the anti-rotation member 740, thereby driving the transmission rod 730 to move relative to the rotating seat 200 along the extension direction of the rotation axis of the rotating seat 200.

[0052] In this embodiment, the transmission rod 730 and the clamping member 400 are connected by a transmission mechanism capable of converting linear motion into rotational motion, so that the transmission rod 730 moves relative to the rotating base 200 along the extension direction of the rotation axis of the rotating base 200, thereby driving the clamping member 400 to rotate relative to the swing arm 300. The specific structure of the transmission mechanism capable of converting linear motion into rotational motion can adopt a gear rack structure, and details can be referred to in subsequent embodiments.

[0053] Specifically, the anti-rotation member 740 can be directly formed, welded, or fastened to the rotating base 200 via fasteners.

[0054] Specifically, a support bearing may be provided between the nut 710 and the rotating base 200 to ensure the strength of the structure.

[0055] Of course, the transmission form of the transmission rod 730 is not limited to the transmission rod 730, but can also be other transmission forms. For example, the first end of the transmission rod 730 is directly connected to the first driving assembly 500, and can rotate relative to the rotating seat 200 under the drive of the first driving assembly 500, thereby driving the clamping member 400 to rotate relative to the swing arm 300. Specifically, the entire transmission rod 730 is arranged along the rotation axis of the rotating seat 200, so that it can rotate circumferentially relative to the rotating seat 200 under the drive of the first driving assembly 500. The second end of the transmission rod 730 is fixedly connected to a coaxially arranged first bevel gear, and the clamping member 400 is fixedly connected and the axis is coaxially arranged with the rotation axis of the clamping member relative to the swing arm 300. The first bevel gear and the second bevel gear are meshed with each other. In this way, when the transmission rod 730 is driven by the first driving assembly 500 to rotate circumferentially, it can drive the first bevel gear to rotate, thereby driving the second bevel gear and the clamping member 400 to rotate relative to the swing arm 300.

[0056] In one embodiment, referring to the attached Figure 1 and attached Figure 2 As shown, the outer peripheral wall of the lead screw 760 is provided with a slot extending in the axial direction, and the anti-rotation member 740 is configured as a anti-rotation pin with one end inserted into the slot.

[0057] It can be understood that the anti-rotation member 740 is engaged in the groove on the outer wall of the screw 760 to prevent rotation. Specifically, the anti-rotation member 740 can limit the circumferential rotation of the screw 760 relative to the rotating seat 200, thereby limiting the rotation of the transmission rod 730 relative to the rotating seat 200.

[0058] Of course, the anti-rotation cooperation method between the anti-rotation member 740 and the screw 760 is not limited to this. In some other embodiments, the screw 760 may be provided with a anti-rotation segment with a polygonal cross-sectional profile, and the anti-rotation member 740 is provided with a polygonal anti-rotation ring, which is sleeved on the anti-rotation segment and adapted to the outer profile of the anti-rotation segment. In this way, the anti-rotation ring of the anti-rotation member 740 can also limit the circumferential rotation of the screw 760 relative to the rotating seat 200, thereby playing a role in anti-rotation.

[0059] In one embodiment, referring to the attached Figure 1 As shown, the first drive assembly 500 is a frameless motor and includes a first rotor 510 and a first stator 520. The first rotor 510 is arranged around the rotation axis of the rotating base 200 and is fixedly connected to the nut 710. The first stator 520 is arranged around the first rotor 510 and is fixedly connected to the rotating base 200. The first rotor 510 and the first stator 520 are both arranged between the nut 710 and the rotating base 200.

[0060] It can be understood that when the first stator 520 is energized, the first rotor 510 is driven to rotate around the rotation axis of the rotating base 200 , thereby driving the nut 710 to rotate relative to the rotating base 200 .

[0061] In this embodiment, a frameless motor is used as a power element to drive the clamping member 400 to rotate relative to the swing arm 300. Compared with other power elements, it has the advantages of fewer parts and smaller space, which can further greatly simplify the structure of the swing device and further reduce the overall volume of the swing device.

[0062] Of course, the structure of the first drive component 500 is not limited to this. In some other embodiments, the first drive component 500 may be a rotary motor, the body of the rotary motor may be fixedly set on the base 100, and the rotary output shaft of the rotary motor is transmission-connected to the nut 710, thereby driving the rotation of the nut 710 through the rotary output shaft of the rotary motor.

[0063] Specifically, a first accommodating cavity is formed between the nut 710 and the rotating base 200, and the first rotor 510 and the first stator 520 are both arranged in the first accommodating cavity. This arrangement allows the rotating base 200, the first stator 520, the first rotor 510, and the nut 710 to be coaxially arranged in sequence, greatly improving the compactness of the structure.

[0064] Specifically, the first rotor 510 is sleeved on the outer side of the nut 710 , and the first stator 520 is embedded in the rotating base 200 .

[0065] In actual application, there can be various ways to install and fix the first rotor 510 and the first stator 520. For example, the first rotor 510 and the first stator 520 can be respectively installed on the nut 710 and the rotating base 200 by fastening with fasteners. The first rotor 510 and the first stator 520 can also be respectively installed on the nut 710 and the rotating base 200 by snapping.

[0066] In one embodiment, referring to the attached Figure 1 As shown, the swing device further includes a first encoder 1200 arranged between the nut 710 and the rotating base 200 . The stator of the first encoder 1200 is fixedly connected to the rotating base 200 , and the rotor of the first encoder 1200 is fixedly connected to the nut 710 .

[0067] In this embodiment, the first encoder 1200 can indirectly detect the rotation angle of the clamping member 400 relative to the swing arm 300 by detecting the rotation angle of the nut 710 relative to the rotating seat 200. The operation of the first drive component 500 is closed-loop controlled according to the detection result of the first encoder 1200, so as to effectively and accurately control the longitudinal swing trajectory and movement of the working tool.

[0068] Furthermore, the first encoder 1200 can be a thin inductive encoder. In this way, the first encoder 1200 has the advantages of a small number of parts, a compact structure, and a small footprint, which can ensure the compactness of the structure of the swing device. Of course, in other embodiments, the first encoder 1200 can also be other types of encoders.

[0069] In one embodiment, referring to the attached Figure 1 As shown, the clamping member 400 is fixedly connected to the transmission gear 720, the central axis of the transmission gear 720 is coaxially arranged with the rotation axis of the clamping member 400 relative to the swing arm 300, and the second end of the transmission rod 730 is connected to the straight rack 750, which is engaged with the transmission gear 720.

[0070] In this embodiment, when the nut 710 rotates under the drive of the first drive assembly 500, driving the lead screw 760 to move axially, so that the transmission rod 730 together with the spur rack 750 moves along the axial direction of the lead screw 760, the movement of the spur rack 750 will drive the transmission gear 720 together with the clamping member 400 to rotate relative to the swing arm 300. In this way, the first drive assembly 500 drives the clamping member 400 to rotate relative to the swing arm 300 through the transmission rod 730.

[0071] In actual application, the arrangement of the transmission rod 730 is set according to the relative positions of the lead screw 760 and the spur rack 750. For example, the position of the transmission gear 720 is set to deviate from the rotation axis of the rotating seat 200, so that the spur rack 750 is also adaptively set to deviate from the rotation axis of the rotating seat 200, and the lead screw 760 passed through the nut 710 is located on the rotation axis of the rotating seat 200. At this time, the transmission rod 730 extends in the direction perpendicular to the rotation axis of the rotating seat 200 to be connected to the lead screw 760 and the spur rack 750 respectively. In addition, the transmission rod 730, the lead screw 760 and the straight rack 750 can be an integrally formed rod-shaped structure, that is, the external teeth and external threads are directly processed at both ends of a rod body to form the straight rack 750 and the lead screw 760, and the rod section between the straight rack 750 and the lead screw 760 is the transmission rod 730. Of course, the lead screw 760, the transmission rod 730 and the straight rack 750 can also be a split structure formed by splicing in sequence.

[0072] In one embodiment, referring to the attached Figure 1 As shown, the transmission gear 720 is rotatably mounted on the swing arm 300, and the spur rack 750 is movably mounted on the swing arm 300. This arrangement can further improve the compactness and strength of the structure.

[0073] Specifically, refer to the attached Figure 1As shown, a connecting column may be provided at one end of the clamping member 400, and the clamping member 400 may be fixedly connected to the transmission gear 720 through the connecting column to achieve a fixed connection with the transmission gear 720. That is to say, in this embodiment, the transmission gear 720 can, on the one hand, drive the clamping member 400 to rotate, and on the other hand, serve as a receiving member for the clamping member 400 to be installed on the swing arm 300. Such a setting can achieve the purpose of streamlining the structure.

[0074] Furthermore, the transmission gear 720 and the spur rack 750 can be embedded and hidden in the swing arm 300. In this way, the swing arm 300 can provide good protection for the transmission gear 720 and the spur rack 750, effectively improving the service life of the swing device.

[0075] In one embodiment, referring to the attached Figure 1 As shown, the swing device also includes:

[0076] The transmission base 800 is rotatably disposed between the rotating base 200 and the base 100 around the rotating axis of the rotating base 200;

[0077] The second driving assembly 600 is disposed between the transmission base 800 and the base 100 and is capable of driving the transmission base 800 to rotate;

[0078] The sun gear 900 is arranged around the rotation axis of the rotating base 200 and is fixedly connected to the transmission base 800;

[0079] The fixed ring gear 1000 is arranged around the sun gear 900 and is fixedly connected to the base 100;

[0080] The planetary gears 1100 are meshed with the fixed ring gear 1000 and the sun gear 900 respectively, and the wheel shaft is fixedly connected to the rotating base 200.

[0081] It is understood that when the second drive assembly 600 drives the transmission base 800 to rotate, it drives the sun gear 900, to which the transmission base 800 is fixed, to rotate relative to the base 100. The rotation of the sun gear 900 drives the planetary gears 1100 to rotate about the rotation axis of the rotating base 200, thereby driving the rotation of the rotating base 200. In other words, the power output by the second drive assembly 600 is transmitted to the rotating base 200 through the planetary gear train structure composed of the planetary gears 1100, the fixed ring gear 1000, and the sun gear 900, and the transmission base 800, thereby driving the rotating base 200 to rotate.

[0082] By utilizing the deceleration and torque-increasing effect of the planetary gear structure, the output torque of the second drive component 600 can be effectively improved. In other words, the torque requirement of the swing device on the second drive component 600 is effectively reduced. In this way, the second drive component 600 can be selected with a smaller size. Combined with the second drive component 600 being integrated between the rotating seat 200 and the base 100, the overall size of the swing device can be further reduced.

[0083] Specifically, support bearings are provided between the transmission seat 800 and the base 100 and between the transmission seat 800 and the rotating seat 200 to ensure the strength of the structure.

[0084] In one embodiment, referring to the attached Figure 1 As shown, the second drive assembly 600 is a frameless motor and includes a second rotor 610 and a second stator 620. The second rotor 610 is arranged around the rotation axis of the rotating base 200 and is fixedly connected to the transmission base 800. The second stator 620 is arranged around the second rotor and is fixedly connected to the base 100.

[0085] It can be understood that when the second stator 620 is energized, it will drive the second rotor 610 to rotate around the rotation axis of the rotating base 200, thereby driving the transmission base 800 and the sun gear 900 fixedly connected to the transmission base 800 to rotate relative to the base 100. The rotation of the sun gear 900 will drive the planetary gear 1100 to rotate around the rotation axis of the rotating base 200, thereby driving the rotating base 200 to rotate.

[0086] In this embodiment, a frameless motor is used as the power element to drive the rotating seat 200 to rotate. Compared with other power elements, it has the advantages of fewer parts and smaller space, which can further greatly simplify the structure of the swing device and further reduce the overall volume of the swing device.

[0087] Specifically, a second accommodating cavity is formed between the transmission base 800 and the base 100, and the second rotor 610 and the second stator 620 are both disposed within the second accommodating cavity. This arrangement allows the base 100, the second stator 620, the second rotor 610, and the transmission base 800 to be coaxially arranged in sequence, greatly improving the compactness of the structure.

[0088] Specifically, the second rotor 610 is sleeved on the outside of the transmission base 800 , and the second stator 620 is embedded in the base 100 .

[0089] In actual application, there can be various ways to install and fix the second rotor 610 and the second stator 620. For example, the second rotor 610 and the second stator 620 can be respectively installed on the transmission seat 800 and the base 100 by fastening with fasteners. The second rotor 610 and the second stator 620 can also be respectively installed on the transmission seat 800 and the base 100 by snap-fitting.

[0090] Of course, the structure of the second drive assembly 600 is not limited to this. In some other embodiments, the second drive assembly 600 may be a rotating motor, the body of the rotating motor may be fixedly set on the base 100, and the rotating output shaft of the rotating motor is connected to the transmission seat 800, thereby driving the transmission seat 800 to rotate through the rotating output shaft of the rotating motor.

[0091] In one embodiment, referring to the attached Figure 1 As shown, the swing device further includes a second encoder 1300 arranged between the base 100 and the transmission base 800 , the stator of the second encoder 1300 is fixedly connected to the base 100 , and the rotor of the second encoder 1300 is fixedly connected to the transmission base 800 .

[0092] With such an arrangement, the second encoder 1300 can indirectly detect the rotation angle of the rotating seat 200 relative to the base 100 by detecting the rotation angle of the transmission seat 800 relative to the base 100. The operation of the second drive component 600 can be closed-loop controlled according to the detection result of the second encoder 1300, thereby effectively and accurately controlling the lateral swing trajectory and movement of the working tool.

[0093] Furthermore, the second encoder 1300 can be a thin inductive encoder. In this way, the second encoder 1300 has the advantages of a small number of parts, a compact structure, and a small footprint, which can ensure the compactness of the structure of the swing device. Of course, in other embodiments, the second encoder 1300 can also be other types of encoders.

[0094] In one embodiment, referring to the attached Figure 1 As shown, the first end of the swing arm 300 is fixedly connected to the rotating base 200 , and the second end extends in a direction away from the base 100 . The clamping member 400 is disposed on the second end of the swing arm 300 .

[0095] It can be understood that most of the components of the swing device, such as the first drive assembly 500 and the second drive assembly 600, are integrated in the base 100, which limits the shape and size of the base 100. The clamping member 400 is set on the second end of the swing arm 300 away from the base 100. In this way, the clamping member 400 can be kept away from the base 100, avoiding the limitation of the range of motion of the working tool due to the shape and size restrictions of the base 100.

[0096] In the description of this utility model, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature specified as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of this utility model, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0097] In this utility model, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection, or communication; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. For those skilled in the art, the specific meanings of the above terms in this utility model can be understood according to specific circumstances.

[0098] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0099] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are illustrative and cannot be understood as limitations on the present invention. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A swing device, characterized in that: The swing device comprises: base(100); A rotating seat (200) rotatably disposed within the base (100); A swing arm (300) is fixedly connected to one end of the rotating seat (200) extending from the base (100); A clamping member (400) is rotatably disposed on the swing arm (300) and is provided with a clamping hole for clamping a working tool; The rotation axis of the clamping member (400) relative to the swing arm (300) and the rotation axis of the rotating seat (200) are perpendicular to each other and intersect at an intersection, and the axis of the clamping hole passes through the intersection; The clamping member (400) rotates relative to the swing arm (300) to cause the working tool to swing in the longitudinal direction, and the rotating seat (200) rotates relative to the base (100), driving the clamping member (400) to rotate along with the rotating seat (200) to cause the working tool to swing in the transverse direction.

2. The swing device according to claim 1, characterized in that The swing device further comprises a first drive assembly (500) and a transmission rod (730), wherein the first drive assembly (500) is arranged in the rotating seat (200), a first end of the transmission rod (730) extends into the rotating seat (200) and is drivingly connected to the first drive assembly (500), and a second end is drivingly connected to the clamping member (400), wherein the transmission rod (730) is driven by the first drive assembly (500) to move relative to the rotating seat (200) to drive the clamping member (400) to rotate relative to the swing arm (300).

3. The swing device according to claim 2, characterized in that The first end of the transmission rod (730) is connected to a lead screw (760), the central axis of the lead screw (760) is coaxially arranged with the rotation axis of the rotating seat (200) and is sleeved with a nut (710), the nut (710) is connected to the first driving component (500), and the rotating seat (200) is fixedly connected with a stop member (740), the stop member (740) and the lead screw (760) are engaged in a rotation-stopping manner, wherein the nut (710) can rotate relative to the rotating seat (200) under the drive of the first driving component (500), so as to drive the transmission rod (730) to move relative to the rotating seat (200) along the extension direction of the rotation axis of the rotating seat (200), thereby driving the clamping member (400) to rotate relative to the swing arm (300).

4. The swing device according to claim 3, characterized in that The outer peripheral wall of the lead screw (760) is provided with a slot extending in the axial direction, and the anti-rotation member (740) is configured as a anti-rotation pin with one end inserted into the slot.

5. The swing device according to claim 3, characterized in that: The first driving assembly (500) is a frameless motor and includes a first rotor (510) and a first stator (520), wherein the first rotor (510) is arranged around the rotation axis of the rotating seat (200) and is fixedly connected to the nut (710), and the first stator (520) is arranged around the first rotor (510) and is fixedly connected to the rotating seat (200), and the first rotor (510) and the first stator (520) are both arranged between the nut (710) and the rotating seat (200).

6. The swing device according to claim 3, characterized in that The oscillating device further comprises a first encoder (1200) arranged between the nut (710) and the rotating seat (200), the stator of the first encoder (1200) being fixedly connected to the rotating seat (200), and the rotor of the first encoder (1200) being fixedly connected to the nut (710).

7. The swing device according to claim 3, characterized in that The clamping member (400) is fixedly connected to a transmission gear (720), the central axis of the transmission gear (720) and the rotation axis of the clamping member (400) relative to the swing arm (300) are coaxially arranged, and the second end of the transmission rod (730) is connected to a spur rack (750), and the spur rack (750) is meshed with the transmission gear (720).

8. The oscillating device according to claim 7, characterized in that The transmission gear (720) is rotatably mounted on the swing arm (300), and the spur rack (750) is movably mounted on the swing arm (300).

9. The oscillating device according to claim 1, characterized in that The swing device also includes: A transmission seat (800) is rotatably arranged between the rotating seat (200) and the base (100) around the rotating axis of the rotating seat (200); a second driving assembly (600), disposed between the transmission seat (800) and the base (100) and capable of driving the transmission seat (800) to rotate; A sun gear (900) is arranged around the rotation axis of the rotating seat (200) and is fixedly connected to the transmission seat (800); A fixed ring gear (1000) is arranged around the sun gear (900) and is fixedly connected to the base (100); The planetary gears (1100) are respectively engaged with the fixed ring gear (1000) and the sun gear (900), and the wheel shaft is fixedly connected to the rotating seat (200).

10. The swing device according to claim 9, characterized in that The second driving assembly (600) is a frameless motor and includes a second rotor (610) and a second stator (620). The second rotor (610) is arranged around the rotation axis of the rotating seat (200) and is fixedly connected to the transmission seat (800). The second stator (620) is arranged around the second rotor and is fixedly connected to the base (100).

11. The swing device according to claim 9, characterized in that The oscillating device further comprises a second encoder (1300) arranged between the base (100) and the transmission seat (800), a stator of the second encoder (1300) being fixedly connected to the base (100), and a rotor of the second encoder (1300) being fixedly connected to the transmission seat (800).

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