Welding manipulator for semiconductor case sheet metal machining

Abstract

The welding manipulator comprises a machine base, a welding mechanical arm is installed at the top of the machine base, the placing position of the welding mechanical arm can be changed through a rotating shaft of the welding mechanical arm, a control cabinet is installed on one side of the machine base, and the control cabinet is used for driving the welding mechanical arm. The front face of the control cabinet is in transmission connection with a driving shaft, the surface of the driving shaft is sleeved with a strip coil, a connecting rope is wound around the surface of the strip coil, a feeder is installed on the surface of the welding mechanical arm, and the side, away from the strip coil, of the connecting rope extends into the feeder. Rapid mounting and dismounting of the strip coil are achieved through the positioning structure, a traditional thread fixing mode is thoroughly replaced, the replacement efficiency is improved, the downtime of equipment is remarkably shortened, a connecting rope conveying path can be optimized by arranging the control cabinet on the rear side of the machine base, and a structural foundation is provided for follow-up tension control.

Description

Technical Field

[0001] The present invention relates to the technical field of semiconductor chassis sheet metal processing, in particular to a welding robot for semiconductor chassis sheet metal processing. Background Art

[0002] Semiconductor factories utilize a large number of devices (such as photolithography machines, etching machines, thin film deposition equipment, and cleaning equipment). Highly automated, high-precision, and high-cleanliness robots are required within or between these devices to transport and process wafers (silicon wafers), carriers (such as FOUPs / FOSBs), or other components. Furthermore, semiconductor equipment itself is a complex structure made of precision metals or specialized materials, and robots may be required to assist in the manufacturing of these equipment chassis.

[0003] For example, the patent application number disclosed on the China Patent Network is: 202222742615.4, and the patent name is: A welding device for sheet metal composite processing, comprising a mounting seat, the top of the mounting seat is fixedly connected to a welding robot, the rear end of the mounting seat is provided with a bearing plate, and the outer side of the mounting seat is provided with a welding plate thickness clamping structure, the welding plate thickness clamping structure includes a fixing plate, the bearing plate is fixedly mounted on the top of the fixing plate, and the rear end of the fixing plate located on the rear side is fixedly connected to a motor, the main shaft end of the motor is fixedly connected to a screw rod, and the screw rod is rotatably connected to the fixing plate. This patented technical solution can ensure the limited clamping welding of plate-like sheet metal composites, while ensuring convenient measurement of different sheet metal composite thicknesses, thereby ensuring that the welding robot automatically adopts the corresponding power of different thicknesses for welding, solving the problem that sheet metal composites of different thicknesses require manual thickness measurement to determine the welding power of the welding robot.

[0004] However, the installation method of the existing manipulator connecting rope material is relatively cumbersome. The material is wrapped around the belt roll and fixed by a threaded component. As a result, the belt roll replacement process is cumbersome and time-consuming, and the threaded parts need to be disassembled and installed, which seriously affects the replacement efficiency and increases the equipment downtime. Secondly, and more critically, the connecting rope material enters the feeder directly from the surface of the coil through rigid traction. This design makes it very easy to cause dry pulling on the material when the feeder moves at high speed or over a large range with the robotic arm. The uncontrolled rigid tension not only often causes the fragile connecting rope material to break, but also causes the material to become entangled or stuck in the feeding path, resulting in extremely unstable material transportation and frequent interruptions to the welding process. This not only wastes materials, but also seriously restricts the overall welding efficiency and quality, and urgently needs to be optimized and improved.

[0005] Therefore, it is necessary to design and modify the welding robot used for semiconductor chassis sheet metal processing. Summary of the Invention

[0006] In order to solve the problems raised in the above background technology, the purpose of the present invention is to provide a welding robot for semiconductor chassis sheet metal processing, which has the advantages of ensuring stable material supply while facilitating the replacement of tape rolls.

[0007] To achieve the above-mentioned object, the present invention provides the following technical solutions: A welding robot for semiconductor chassis sheet metal processing, comprising a machine base; A welding robot arm is installed on the top of the machine base, and the welding robot arm can change its placement position through its own rotating shaft. A control cabinet is installed on one side of the machine base, and the control cabinet is used to drive the welding robot arm. The front transmission of the control cabinet is connected to a drive shaft, and the surface of the drive shaft is sleeved with a belt roll, and the surface of the belt roll is wrapped with a connecting rope material. A feeder is installed on the surface of the welding robot arm, and the connecting rope material extends to the inside of the feeder away from the side of the belt roll. The feeder can pull the connecting rope material to release it from the surface of the belt roll. A positioning structure is provided on the top of the control cabinet, and the positioning structure can fix the belt roll and facilitate the replacement of the belt roll.

[0008] As a preferred embodiment of the present invention, the positioning structure includes vertical plates fixedly connected to both sides of the top of the control cabinet, the outer sides of the vertical plates are movably connected to a transmission rod through bearings, the surface of the transmission rod is fixedly connected to a pressure plate, the pressure plate extends away from the side of the transmission rod to the front of the belt roll, the pressure plate can rotate and swing around the transmission rod as the axis and apply backward pressure to the belt roll, and a transmission structure is provided on the top of the control cabinet, and the transmission structure can control the swing angle of the pressure plate.

[0009] As preferred embodiment of the present invention, the transmission structure includes a connecting frame fixedly connected to the back of the control cabinet, the interior of the connecting frame is movably connected with a bidirectional screw through a bearing, both sides of the surface of the bidirectional screw are threadedly connected with screw sleeves, both sides of the top of the control cabinet are movably connected with a shaft rod located on the outside of the vertical plate through bearings, the surface of the shaft rod is fixedly connected with a sleeve plate, the sleeve plate extends to the side away from the shaft rod to the top of the sleeve, the top of the sleeve is fixedly connected with a sliding rod located inside the sleeve plate, the sliding rod is slidably connected to the sleeve plate, the top of the shaft rod and the surface of the transmission rod are fixedly connected with helical gears, the helical gears are meshed with each other, and the left side of the connecting frame is fixedly connected to a transmission motor, and the output end of the transmission motor passes through the connecting frame and is fixedly connected to the left end of the bidirectional screw.

[0010] As a preferred embodiment of the present invention, a rocker arm is fixedly connected to the surface of the shaft rod, and the side of the rocker arm away from the shaft rod extends to the outside of the connecting rope material. The side of the rocker arm away from the shaft rod is fixedly connected to an arc petal mounted on the surface of the connecting rope material, and the two arc petals contact each other and form a closed ring arranged around the surface of the connecting rope material. The connecting rope material can slide inside the arc petal and remain released upward at all times.

[0011] As a preferred embodiment of the present invention, both sides of the top of the rocker arm are fixedly connected with brackets, and the side of the bracket away from the rocker arm is movably connected with a connecting rod, and the surface of the connecting rod is fixedly connected with a friction wheel located on the inner side of the bracket, and the inner side of the friction wheel is in contact with the surface of the connecting rope material. When the friction wheels rotate in opposite directions, they can use friction force to push the connecting rope material upward and accelerate its release, thereby ensuring the tension of the connecting rope material between the belt roll and the feeder.

[0012] As a preferred embodiment of the present invention, a driving component is provided on the front of the control cabinet through a lifting structure, and the driving component can control the two friction wheels to rotate towards each other.

[0013] As a preferred embodiment of the present invention, the driving component includes an extension rod arranged on the front side of the control cabinet through a lifting structure, and the lifting structure can drive the extension rod to lift vertically. A pawl assembly is installed on both sides of the top of the extension rod through a pin shaft, and the rear end of the connecting rod passes through the rear side of the bracket and is fixedly connected to a ratchet. The ratchet is located on the outside of the pawl assembly, and the ratchet and the pawl assembly are engaged with each other. The lifting structure can use the pawl assembly to push the ratchet to rotate during the process of carrying the extension rod up.

[0014] As a preferred embodiment of the present invention, the lifting structure includes a movable rod movably connected to the front face of the control cabinet through a bearing, the movable rod is mutually transmission-connected with the drive shaft through a linkage structure, the front end of the movable rod is fixedly connected to a rotating wheel, the bottom end of the extension rod extends between the rotating wheel and the belt roll and is fixedly connected to a sliding frame, the front face of the rotating wheel is fixedly connected to a push rod located inside the sliding frame, and the push rod and the sliding frame are slidably connected.

[0015] As a preferred embodiment of the present invention, the linkage structure includes transmission wheels fixedly connected to the driving shaft and the surface of the movable rod respectively, the outer surfaces of the transmission wheels are in contact with each other, and the driving shaft can use the transmission wheels to control the synchronous rotation of the movable rod when the belt roll is released, and the friction wheel driven by the driving component can push the released connecting rope material to extend upward, thereby ensuring the tension of the connecting rope material between the belt roll and the feeder.

[0016] As a preferred embodiment of the present invention, a guide plate is fixedly connected to the surface of the extension rod, and the guide plate extends to the top of the control cabinet from the side away from the extension rod and is sleeved on the surface of the vertical plate, and the vertical plate and the guide plate are slidably connected.

[0017] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention realizes the rapid installation and removal of the belt roll through the positioning structure, completely replacing the traditional threaded fixing method, improving the replacement efficiency and significantly shortening the equipment downtime. In addition, by arranging the control cabinet on the rear side of the machine base, the connecting rope material conveying path can be optimized, providing a structural basis for subsequent tension control.

[0018] 2. The present invention applies backward pressure to the belt roll by rotating and swinging the pressure plate, and can complete the fixation and release with a single action, which greatly shortens the operation time. At the same time, the transmission structure accurately controls the swing angle of the pressure plate to ensure that the belt roll is evenly stressed and avoid material release deviation caused by installation deviation.

[0019] 3. The present invention realizes the synchronous movement of the double pressure plates through the bidirectional screw and screw sleeve mechanism, which reduces the transmission error and ensures the center positioning accuracy of the belt roll. The helical gear meshing transmission converts the horizontal displacement into rotational motion, further improving the transmission effect. In addition, the failure rate of the pure mechanical linkage structure is lower than that of the pneumatic or hydraulic system, and it is suitable for the high clean environment of the semiconductor workshop.

[0020] 4. The present invention forms a closed loop through double arc petals to force the material to be released vertically upward, eliminating the lateral swing of the material and reducing the winding failure rate. At the same time, the rocker arm and the shaft rod are linked to each other, so that the arc petals open and close automatically with the movement of the pressure plate without the need for additional operating steps.

[0021] 5. The present invention forms flexible traction by contacting the friction wheel with the material surface, replacing the traditional rigid pulling, so that the material breakage rate is reduced. The friction wheels rotate in opposite directions to generate an upward thrust, dynamically compensating for the tension loss during high-speed displacement of the feeder, and improving the conveying stability.

[0022] 6. The present invention realizes the real-time linkage between the movement of the robot arm and the release of the material by driving the friction wheel through the lifting structure, which greatly reduces the response delay.

[0023] 7. The present invention converts vertical lifting into rotational motion through a pawl assembly and a ratchet mechanism, and can flexibly control the release of the connecting rope material according to the rotation release amount of the belt roll.

[0024] 8. The present invention converts rotary motion into precise linear lifting through a push rod and a sliding frame mechanism, which can improve control accuracy. At the same time, the drive shaft and the movable rod are directly contacted and transmitted through the transmission wheel, eliminating the gear box structure.

[0025] 9. The present invention realizes transmission through friction transmission of the transmission wheel, ensuring that the material release speed strictly matches the requirements of the feeder, saving the operation steps of setting up additional driving equipment.

[0026] 10. The present invention forms a double guide by setting up a vertical plate through a guide plate sleeve, thereby preventing the extension rod from lifting and lowering and swinging angles, ensuring the reliability of the engagement between the pawl assembly and the ratchet wheel, and reusing the vertical plate of the positioning structure as a guide rail, reducing the number of special parts and reducing manufacturing costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic diagram of the structure of the present invention; Figure 2 This is a rear view structural diagram of the present invention; Figure 3 It is a rear view schematic diagram of the transmission structure of the present invention; Figure 4 It is a schematic diagram of the local structure of the present invention; Figure 5 This is a schematic diagram of the positioning structure of the present invention; Figure 6 This is a schematic diagram of the structure of the driving component of the present invention; Figure 7 It is a rear view schematic diagram of the lifting structure and linkage structure of the present invention; Figure 8 For the present invention Figure 6 Enlarged structural diagram at point A in the middle.

[0028] In the figure: 1. Machine base; 2. Welding robot arm; 3. Control cabinet; 4. Drive shaft; 5. Belt roll; 6. Connecting rope material; 7. Feeder; 8. Positioning structure; 9. Vertical plate; 10. Transmission rod; 11. Press plate; 12. Transmission structure; 13. Connecting frame; 14. Bidirectional screw; 15. Screw sleeve; 16. Shaft rod; 17. Bushing; 18. Slide rod; 19. Bevel gear; 20. Transmission motor; 21. Rocker arm; 22. Arc petal; 23. Bracket; 24. Connecting rod; 25. Friction wheel; 26. Lifting structure; 27. Drive component; 28. Extension rod; 29. ​​Pawl assembly; 30. Ratchet; 31. Movable rod; 32. Linkage structure; 33. Rotating wheel; 34. Sliding frame; 35. Push rod; 36. Transmission wheel; 37. Guide plate. DETAILED DESCRIPTION

[0029] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only 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 making creative efforts are within the scope of protection of the present invention.

[0030] like Figures 1 to 8 As shown, the present invention provides a welding robot for semiconductor chassis sheet metal processing, comprising a base 1; A welding robot arm 2 is installed on the top of the machine base 1, and the welding robot arm 2 can change its placement through its own rotating shaft. A control cabinet 3 is installed on one side of the machine base 1, and the control cabinet 3 is used to drive the welding robot arm 2. The front transmission of the control cabinet 3 is connected to the drive shaft 4, and the surface of the drive shaft 4 is sleeved with a belt roll 5, and the surface of the belt roll 5 is wrapped with a connecting rope material 6. A feeder 7 is installed on the surface of the welding robot arm 2, and the connecting rope material 6 extends from the side away from the belt roll 5 to the inside of the feeder 7. The feeder 7 can pull the connecting rope material 6 to release it from the surface of the belt roll 5. A positioning structure 8 is provided on the top of the control cabinet 3, and the positioning structure 8 can fix the belt roll 5 and facilitate the replacement of the belt roll 5.

[0031] refer to Figure 5 The positioning structure 8 includes vertical plates 9 fixedly connected to both sides of the top of the control cabinet 3. The outer side of the vertical plate 9 is movably connected to a transmission rod 10 through a bearing. The surface of the transmission rod 10 is fixedly connected to a pressure plate 11. The pressure plate 11 extends from the side of the transmission rod 10 to the front of the belt roll 5. The pressure plate 11 can rotate and swing around the transmission rod 10 as the axis and apply backward pressure to the belt roll 5. A transmission structure 12 is provided on the top of the control cabinet 3, and the transmission structure 12 can control the swing angle of the pressure plate 11.

[0032] As a technical optimization solution of the present invention, the pressure plate 11 uses rotation and swing to apply backward pressure to the belt roll 5, and a single action can complete the fixation and release, which greatly shortens the operation time. At the same time, the transmission structure 12 accurately controls the swing angle of the pressure plate 11 to ensure that the belt roll 5 is evenly stressed, avoiding material release deviation caused by installation deviation.

[0033] refer to Figure 4 The transmission structure 12 includes a connecting frame 13 fixedly connected to the back of the control cabinet 3, and a bidirectional screw 14 is movably connected to the interior of the connecting frame 13 through a bearing. Both sides of the surface of the bidirectional screw 14 are threadedly connected with a screw sleeve 15. Both sides of the top of the control cabinet 3 are movably connected with a shaft rod 16 located on the outside of the vertical plate 9 through a bearing. The surface of the shaft rod 16 is fixedly connected with a sleeve 17, and the sleeve 17 extends to the top of the screw sleeve 15 away from the side of the shaft rod 16. The top of the screw sleeve 15 is fixedly connected with a slide rod 18 located inside the sleeve plate 17, and the slide rod 18 is slidably connected to the sleeve plate 17. The top of the shaft rod 16 and the surface of the transmission rod 10 are fixedly connected with a bevel gear 19, which meshes with each other. The left side of the connecting frame 13 is fixedly connected to a transmission motor 20, and the output end of the transmission motor 20 passes through the connecting frame 13 and is fixedly connected to the left end of the bidirectional screw 14.

[0034] As a technical optimization solution of the present invention, the synchronous movement of the double pressure plates 11 is achieved through the bidirectional screw 14 and the screw sleeve 15 mechanism, so that the transmission error is reduced and the center positioning accuracy of the belt roll 5 is guaranteed. The meshing transmission of the helical gear 19 converts the horizontal displacement into rotational motion, further improving the transmission effect. Moreover, the failure rate of the pure mechanical linkage structure 32 is lower than that of the pneumatic or hydraulic system, and it is suitable for the high clean environment of the semiconductor workshop.

[0035] refer to Figure 4 The surface of the shaft 16 is fixedly connected to a rocker arm 21, and the side of the rocker arm 21 away from the shaft 16 extends to the outside of the connecting rope material 6. The side of the rocker arm 21 away from the shaft 16 is fixedly connected to an arc petal 22 sleeved on the surface of the connecting rope material 6. The two arc petals 22 contact each other and form a closed ring arranged around the surface of the connecting rope material 6. The connecting rope material 6 can slide inside the arc petal 22 and remain released upward at all times.

[0036] As a technical optimization solution of the present invention, a closed loop is formed by the double arc petals 22 to force the material to be released vertically upward, eliminating the lateral swing of the material and reducing the winding failure rate. At the same time, the rocker arm 21 and the shaft rod 16 are designed to be linked, so that the arc petals 22 automatically open and close with the movement of the pressure plate 11 without the need for additional operating steps.

[0037] refer to Figure 8 Both sides of the top of the rocker arm 21 are fixedly connected with brackets 23, and the side of the bracket 23 away from the rocker arm 21 is movably connected with a connecting rod 24. The surface of the connecting rod 24 is fixedly connected with a friction wheel 25 located on the inner side of the bracket 23. The inner side of the friction wheel 25 contacts the surface of the connecting rope material 6. When the friction wheels 25 rotate in opposite directions, they can use friction force to push the connecting rope material 6 upward and accelerate its release, thereby ensuring the tension of the connecting rope material 6 between the belt roll 5 and the feeder 7.

[0038] As a technical optimization solution of the present invention, flexible traction is formed by the contact between the friction wheel 25 and the material surface, replacing the traditional rigid pulling, so that the material breakage rate is reduced. The friction wheels 25 rotate in opposite directions to generate an upward thrust, dynamically compensating for the tension loss during high-speed displacement of the feeder 7, and improving the conveying stability.

[0039] refer to Figure 7 The front of the control cabinet 3 is provided with a driving component 27 through a lifting structure 26 , and the driving component 27 can control the two friction wheels 25 to rotate toward each other.

[0040] As a technical optimization solution of the present invention, the lifting structure 26 drives the friction wheel 25 to achieve real-time linkage between the movement of the robot arm and the release of the material, thereby greatly reducing the response delay.

[0041] refer to Figure 7The driving component 27 includes an extension rod 28 arranged on the front side of the control cabinet 3 through a lifting structure 26. The lifting structure 26 can drive the extension rod 28 to rise and fall vertically. A pawl assembly 29 is installed on both sides of the top of the extension rod 28 through a pin shaft. The rear end of the connecting rod 24 passes through the rear side of the bracket 23 and is fixedly connected to a ratchet 30. The ratchet 30 is located on the outside of the pawl assembly 29. The ratchet 30 and the pawl assembly 29 are engaged with each other. The lifting structure 26 can use the pawl assembly 29 to push the ratchet 30 to rotate during the process of carrying the extension rod 28 upward.

[0042] As a technical optimization solution of the present invention, the vertical lifting is converted into rotational motion through the pawl assembly 29 and the ratchet 30 mechanism, and the connection rope material 6 can be flexibly controlled to be released according to the rotation release amount of the belt roll 5.

[0043] refer to Figure 7 The lifting structure 26 includes a movable rod 31 movably connected to the front of the control cabinet 3 through a bearing. The movable rod 31 is connected to the drive shaft 4 through a linkage structure 32. The front end of the movable rod 31 is fixedly connected to a rotating wheel 33. The bottom end of the extension rod 28 extends between the rotating wheel 33 and the belt roll 5 and is fixedly connected to a sliding frame 34. The front of the rotating wheel 33 is fixedly connected to a push rod 35 located inside the sliding frame 34. The push rod 35 and the sliding frame 34 are slidably connected.

[0044] As a technical optimization solution of the present invention, the rotary motion is converted into precise linear lifting through the push rod 35 and the sliding frame 34 mechanism, which can improve the control accuracy. At the same time, the drive shaft 4 and the movable rod 31 are directly contacted and transmitted through the transmission wheel 36, eliminating the gear box structure.

[0045] refer to Figure 7 The linkage structure 32 includes a transmission wheel 36 fixedly connected to the surface of the drive shaft 4 and the movable rod 31 respectively. The outer surfaces of the transmission wheel 36 are in contact with each other. When the drive shaft 4 carries the belt roll 5 and is released, the transmission wheel 36 can be used to control the synchronous rotation of the movable rod 31. The friction wheel 25 driven by the driving component 27 can push the released connecting rope material 6 to extend upward, ensuring the tension of the connecting rope material 6 between the belt roll 5 and the feeder 7.

[0046] As a technical optimization solution of the present invention, transmission is achieved through friction transmission of the transmission wheel 36, ensuring that the material release speed strictly matches the requirements of the feeder 7, saving the operating steps of additionally setting up a driving device.

[0047] refer to Figure 7 The surface of the extension rod 28 is fixedly connected with a guide plate 37. The guide plate 37 extends to the top of the control cabinet 3 away from the side of the extension rod 28 and is sleeved on the surface of the vertical plate 9. The vertical plate 9 and the guide plate 37 are slidably connected.

[0048] As a technical optimization solution of the present invention, a double guide is formed by setting a vertical plate 9 through a guide plate 37 to prevent the extension rod 28 from rising and falling and swinging, thereby ensuring the reliability of the engagement of the pawl assembly 29 and the ratchet 30, and reusing the vertical plate 9 of the positioning structure 8 as a guide rail, thereby reducing the number of special parts and reducing manufacturing costs.

[0049] The working principle and usage process of the present invention are as follows: the operator puts the belt roll 5 wrapped with the connecting rope material 6 on the driving shaft 4 on the front of the control cabinet 3, and then starts the positioning structure 8. The transmission motor 20 drives the bidirectional screw 14 to rotate, so that the screw sleeve 15 drives the shaft 16 and the bevel gear 19 to transmit, and finally controls the pressure plate 11 to swing and press the belt roll 5. During the rotation of the shaft 16, the shaft 16 can use the rocker 21 to control the arc petals 22 to swing synchronously. When the two arc petals 22 contact each other and are sleeved on the surface of the connecting rope material 6, the release direction of the connecting rope material 6 is limited so that it can only be released toward the feeder 7. Then the user installs the end of the connecting rope material 6 facing the feeder 7 inside the feeder 7. After the welding is started, the feeder 7 pulls the material from the belt roll 5 to avoid path deviation or Winding, when the robotic arm moves at high speed, the linkage tension system is automatically activated, the drive shaft 4 rotates through the transmission wheel 36 to link the movable rod 31, driving the rotating wheel 33 to push the extension rod 28 up, and the pawl assembly 29 of the extension rod 28 engages the friction wheel 25 ratchet 30, driving the paired friction wheels 25 to rotate in opposite directions, and actively accelerates the release of the material by friction, dynamically compensates for the tension fluctuation of the feeder 7, and keeps the material tension stable. During the whole process, the arc petal 22 continuously guides the material, and the lifting structure 26 ensures the vertical movement accuracy of the extension rod 28 through the guide plate 37, and the accelerated release of the friction wheel 25 is synchronized with the movement of the robotic arm in real time, completely eliminating the risk of rigid pulling. After welding is completed, the transmission motor 20 is reversed to release the pressure plate 11 to quickly replace the belt roll 5, thereby realizing efficient and continuous sheet metal welding operations.

[0050] In summary: the welding robot for sheet metal processing of semiconductor chassis realizes the rapid installation and disassembly of the coil 5 through the positioning structure 8, completely replacing the traditional threaded fixing method, improving the replacement efficiency, and significantly shortening the equipment downtime. Moreover, by arranging the control cabinet 3 on the rear side of the machine base 1, the conveying path of the connecting rope material 6 can be optimized, providing a structural basis for subsequent tension control.

[0051] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus.

[0052] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A welding robot for semiconductor chassis sheet metal processing, comprising a base (1); Its characteristics are: A welding robot arm (2) is installed on the top of the machine base (1), and the welding robot arm (2) can change its placement position through its own rotating shaft. A control cabinet (3) is installed on one side of the machine base (1), and the control cabinet (3) is used to drive the welding robot arm (2). The front transmission of the control cabinet (3) is connected to a drive shaft (4), and the surface of the drive shaft (4) is sleeved with a belt roll (5), and the surface of the belt roll (5) is wound with a connecting rope material (6). A feeder (7) is installed on the surface of the welding robot arm (2), and the connecting rope material (6) extends from the side of the belt roll (5) to the inside of the feeder (7). The feeder (7) can pull the connecting rope material (6) to release it from the surface of the belt roll (5). A positioning structure (8) is provided on the top of the control cabinet (3), and the positioning structure (8) can fix the belt roll (5) and facilitate the replacement of the belt roll (5).

2. A semiconductor chassis sheet metal processing welding robot according to claim 1, characterized in that: The positioning structure (8) includes vertical plates (9) fixedly connected to both sides of the top of the control cabinet (3), the outer sides of the vertical plates (9) are movably connected to a transmission rod (10) through bearings, the surface of the transmission rod (10) is fixedly connected to a pressure plate (11), the pressure plate (11) extends from a side of the transmission rod (10) to the front of the belt roll (5), the pressure plate (11) can rotate and swing around the transmission rod (10) as the axis and apply backward pressure to the belt roll (5), and a transmission structure (12) is provided on the top of the control cabinet (3), and the transmission structure (12) can control the swing angle of the pressure plate (11).

3. A semiconductor chassis sheet metal processing welding robot according to claim 2, characterized in that: The transmission structure (12) includes a connection frame (13) fixedly connected to the back of the control cabinet (3), the interior of the connection frame (13) is movably connected to a bidirectional screw (14) via a bearing, both sides of the surface of the bidirectional screw (14) are threadedly connected to screw sleeves (15), both sides of the top of the control cabinet (3) are movably connected to a shaft (16) located outside the vertical plate (9) via a bearing, the surface of the shaft (16) is fixedly connected to a sleeve plate (17), and the sleeve plate (17) extends away from the shaft (16) to the sleeve. The top of the screw sleeve (15) is fixedly connected to a slide rod (18) located inside the sleeve plate (17), and the slide rod (18) is slidably connected to the sleeve plate (17). The top of the shaft rod (16) and the surface of the transmission rod (10) are fixedly connected to a bevel gear (19), and the bevel gears (19) are meshed with each other. The left side of the connecting frame (13) is fixedly connected to a transmission motor (20), and the output end of the transmission motor (20) passes through the connecting frame (13) and is fixedly connected to the left end of the bidirectional screw (14).

4. A semiconductor chassis sheet metal processing welding robot according to claim 3, characterized in that: The surface of the shaft (16) is fixedly connected to a rocker (21), and the side of the rocker (21) away from the shaft (16) extends to the outside of the connecting rope material (6). The side of the rocker (21) away from the shaft (16) is fixedly connected to an arc petal (22) sleeved on the surface of the connecting rope material (6), and the two arc petals (22) contact each other and form a closed ring arranged around the surface of the connecting rope material (6). The connecting rope material (6) can slide inside the arc petal (22) and remain released upward at all times.

5. A semiconductor chassis sheet metal processing welding robot according to claim 4, characterized in that: Both sides of the top of the swing rod (21) are fixedly connected to brackets (23), and a connecting rod (24) is movably connected to the side of the bracket (23) away from the swing rod (21). The surface of the connecting rod (24) is fixedly connected to a friction wheel (25) located on the inner side of the bracket (23). The inner side of the friction wheel (25) contacts the surface of the connecting rope material (6). When the friction wheels (25) rotate in opposite directions, they can use friction force to push the connecting rope material (6) upward and accelerate its release, thereby ensuring the tension of the connecting rope material (6) between the belt roll (5) and the feeder (7).

6. A semiconductor chassis sheet metal processing welding robot according to claim 5, characterized in that: The front of the control cabinet (3) is provided with a driving component (27) via a lifting structure (26), and the driving component (27) can control the two friction wheels (25) to rotate towards each other.

7. A semiconductor chassis sheet metal processing welding robot according to claim 6, characterized in that: The driving component (27) includes an extension rod (28) arranged on the front of the control cabinet (3) through a lifting structure (26), and the lifting structure (26) can drive the extension rod (28) to rise and fall vertically. Both sides of the top of the extension rod (28) are equipped with pawl assemblies (29) through pins. The rear end of the connecting rod (24) passes through the rear side of the bracket (23) and is fixedly connected to a ratchet (30). The ratchet (30) is located on the outside of the pawl assembly (29). The ratchet (30) and the pawl assembly (29) are engaged with each other. When the lifting structure (26) carries the extension rod (28) upward, the pawl assembly (29) can be used to push the ratchet (30) to rotate.

8. The semiconductor chassis sheet metal processing welding robot according to claim 7, characterized in that: The lifting structure (26) includes a movable rod (31) movably connected to the front of the control cabinet (3) through a bearing, the movable rod (31) is mutually transmission-connected with the drive shaft (4) through a linkage structure (32), the front end of the movable rod (31) is fixedly connected to a rotating wheel (33), the bottom end of the extension rod (28) extends between the rotating wheel (33) and the belt roll (5) and is fixedly connected to a sliding frame (34), the front of the rotating wheel (33) is fixedly connected to a push rod (35) located inside the sliding frame (34), and the push rod (35) and the sliding frame (34) are slidably connected.

9. A semiconductor chassis sheet metal processing welding robot according to claim 8, characterized in that: The linkage structure (32) includes a transmission wheel (36) fixedly connected to the surface of the drive shaft (4) and the movable rod (31), respectively. The outer surfaces of the transmission wheel (36) are in contact with each other. When the drive shaft (4) carries the belt roll (5) and is released, the transmission wheel (36) can be used to control the movable rod (31) to rotate synchronously. The friction wheel (25) driven by the driving component (27) can push the released connecting rope material (6) to extend upward, thereby ensuring the tension of the connecting rope material (6) between the belt roll (5) and the feeder (7).

10. A semiconductor chassis sheet metal processing welding robot according to claim 9, characterized in that: A guide plate (37) is fixedly connected to the surface of the extension rod (28), and the guide plate (37) extends to the top of the control cabinet (3) away from the side of the extension rod (28) and is sleeved on the surface of the vertical plate (9), and the vertical plate (9) and the guide plate (37) are slidably connected.

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