A robotic arm steel strip testing platform

Abstract

This utility model relates to a robotic arm steel belt testing platform, including a frame body. The robotic arm steel belt testing platform also includes an outer shaft drive assembly, an inner shaft drive assembly, and a coaxial drive assembly located below the frame body; a steel belt transmission assembly is connected above the coaxial drive assembly. By setting an outer shaft drive pulley, the power of the outer shaft drive pulley is transmitted to the outer shaft driven pulley, thereby driving the outer shaft output shaft to rotate, and then the power is transmitted to the upper arm. The inner shaft drive pulley transmits power to the inner shaft driven pulley, thereby driving the inner shaft output shaft to rotate. The power is transmitted to the driven large pulley through the large steel belt transmission. The overall coupled steel belt power transmission is realized by using the coaxial drive of dual servo motors. By setting the upper arm ejection screw and the lower arm ejection screw, the center distance between the two ends of the upper arm and the lower arm can be adjusted by two symmetrical upper arm ejection screws and lower arm ejection screws, thereby realizing the final tension of steel belts of different lengths.

Description

Technical Field

[0001] This utility model relates to the field of semiconductor transmission robot technology, and in particular to the design of a robotic arm steel strip testing platform. Background Technology

[0002] With the acceleration of industrialization, the application of robots is becoming increasingly widespread. Especially with the rapid development of the semiconductor industry today, the chip industry has increasingly higher requirements for the performance and efficiency of robots, and the requirements for the performance and reliability of semiconductor transport robots are also becoming more stringent.

[0003] In the field of semiconductor transport robots, steel belt drive is often considered as a solution. This is because steel belt drives are compact, have high transmission accuracy, require no lubrication, are highly clean, do not accumulate static electricity, and can transmit motion and power over long distances.

[0004] Therefore, steel belt drives are widely used due to their high precision, high cleanliness, and good stability. Compared with other transmission methods, the performance testing requirements for steel belt drives are becoming increasingly stringent. In particular, fatigue life testing has a significant impact on the overall reliability of robots, making the reliability testing of steel belts especially important.

[0005] Currently, most companies and organizations in the market test steel strips on robots based on actual conditions, without a dedicated platform for testing steel strips. The robot's drive structure is complex, costly, and difficult to debug, making it unable to adapt to the needs of steel strips of different lengths. If a different length of steel strip is required, a new set of testing equipment needs to be manufactured, which is costly and inefficient. Summary of the Invention

[0006] The purpose of this invention is to solve the above-mentioned problems by proposing a simple robotic steel strip testing platform that is applicable to different steel strip tests and has adjustable arm and forearm lengths.

[0007] To achieve the above objectives, the present invention adopts the following technical solution:

[0008] A robotic arm steel strip testing platform includes a frame body, and the robotic arm steel strip testing platform also includes an outer axis drive assembly, an inner axis drive assembly, and a coaxial drive assembly located below the frame body;

[0009] The outer shaft drive assembly, inner shaft drive assembly, and coaxial drive assembly are used to realize power transmission.

[0010] A steel belt drive assembly is connected above the coaxial drive assembly, and the steel belt drive assembly is used to realize the steel belt drive motion.

[0011] In this specific embodiment, the upper part of the outer shaft drive assembly is provided with an outer shaft drive pulley, and an outer shaft drive protective frame is provided on the outer cover of the outer shaft drive pulley. The outer shaft drive protective frame is fixedly connected to the lower surface of the frame body.

[0012] In this specific embodiment, the upper part of the inner shaft drive assembly is provided with an inner shaft drive pulley, and an inner shaft drive protective frame is provided on the outer cover of the inner shaft drive pulley. The inner shaft drive protective frame is fixedly connected to the lower surface of the frame body.

[0013] In this specific embodiment, the coaxial drive assembly is located between the outer shaft drive assembly and the inner shaft drive assembly. The coaxial drive assembly includes a coaxial base, which is fixed to the frame body. The coaxial drive assembly also includes an inner shaft driven pulley and an outer shaft driven pulley. Both the inner shaft driven pulley and the outer shaft driven pulley are located below the coaxial base. The inner shaft driven pulley is driven by the inner shaft output shaft, and the outer shaft driven pulley is driven by the outer shaft output shaft. Both the inner shaft output shaft and the outer shaft output shaft are higher than the coaxial base. The inner shaft output shaft is located inside the coaxial drive assembly, and the outer shaft output shaft is sleeved on the outer surface of the inner shaft output shaft.

[0014] In this specific embodiment, the outer shaft output shaft is rotatably connected to the inner shaft output shaft via a first bearing, the outer shaft output shaft is rotatably connected to the coaxial base via a second bearing, and the outer shaft output shaft is rotatably connected to the steel belt drive assembly located above the coaxial drive assembly via a third bearing.

[0015] In this specific embodiment, the inner shaft driven pulley is connected to the inner shaft drive pulley via an inner shaft synchronous belt, and the outer shaft driven pulley is connected to the outer shaft drive pulley via an outer shaft synchronous belt.

[0016] In this specific embodiment, the steel belt drive assembly includes a large arm, a small arm, and a load arm. The large arm is fixedly connected to the outer shaft output shaft. The steel belt drive assembly also includes a large drive pulley, a large driven pulley, a small drive pulley, and a small driven pulley. The large drive pulley is fixedly connected to the inner shaft output shaft. The large drive pulley and the large driven pulley are connected by a large steel belt. The small drive pulley and the small driven pulley are connected by a small steel belt. The large driven pulley and the small drive pulley are rotatably connected by a bearing. The small arm is located between the large driven pulley and the small drive pulley and is rotatably connected to both the large driven pulley and the small drive pulley. The load arm is fixedly connected to the small driven pulley, and a load block is provided at one end of the load arm.

[0017] In this specific embodiment, the boom includes a front boom and a rear boom, which are connected by a boom connecting rod. The distance between the front boom and the rear boom is adjusted by a boom push-out screw, and the front boom and the rear boom are locked and fixed by a boom locking screw.

[0018] In this specific embodiment, the forearm includes a front forearm and a rear forearm, which are connected by a forearm connecting rod. The distance between the front and rear forearms is adjusted by a forearm push-out screw, and the front and rear forearms are locked and fixed by a forearm locking screw.

[0019] In this specific embodiment, the frame body includes a base plate and four columns located around the base plate.

[0020] Compared with the prior art, this utility model provides a robotic arm steel strip testing platform, which has the following beneficial effects:

[0021] By setting an outer shaft drive pulley, the power of the outer shaft drive pulley is transmitted to the outer shaft driven pulley through the outer shaft synchronous belt, thereby driving the outer shaft output shaft to rotate. Since the outer shaft output shaft is fixedly connected to the boom, the power is transmitted to the boom. The inner shaft drive pulley transmits power to the inner shaft driven pulley through the inner shaft synchronous belt, thereby driving the inner shaft output shaft to rotate. Since the inner shaft output shaft is connected to the drive pulley, the power is transmitted to the driven pulley through the large steel belt drive. The boom and forearm move relative to each other. The overall coupled steel belt power transmission is realized by using the coaxial drive of dual servo motors.

[0022] By setting the boom ejection screw and the forearm ejection screw, the boom is divided into boom front and boom rear, and the forearm is divided into forearm front and forearm rear. The center distance between the two ends can be adjusted by the two symmetrical boom ejection screws and forearm ejection screws, thereby achieving the final tension of steel strips of different lengths. Attached Figure Description

[0023] The above and other objects, features, and advantages of exemplary embodiments of the present disclosure will become readily apparent upon reading the following detailed description with reference to the accompanying drawings. In the drawings, several embodiments of the present disclosure are illustrated by way of example and not limitation, and like or corresponding reference numerals denote like or corresponding parts, wherein:

[0024] Figure 1 This is a three-dimensional structural diagram of the robotic arm steel belt testing platform of this utility model;

[0025] Figure 2 This is a cross-sectional view of the robotic arm steel strip testing platform of this utility model;

[0026] Figure 3 This is a three-dimensional structural diagram of the robotic arm steel belt testing platform of this utility model;

[0027] Figure 4 This is a top view of the robotic arm steel strip testing platform of this utility model;

[0028] Figure 5 This is a partial enlarged view of section I of the robotic arm steel strip testing platform of this utility model;

[0029] Figure 6 This is a partial enlarged view of part II of the robotic arm steel strip testing platform of this utility model.

[0030] Reference numerals: 1. Frame body; 11. Base plate; 12. Column; 2. Outer shaft drive assembly; 21. Outer shaft drive pulley; 211. Outer shaft drive protective frame; 22. Outer shaft synchronous belt; 3. Inner shaft drive assembly; 31. Outer shaft drive pulley; 311. Inner shaft drive protective frame; 32. Inner shaft synchronous belt; 4. Coaxial drive assembly; 41. Base; 42. Inner shaft driven pulley; 43. Outer shaft driven pulley; 44. Outer shaft output shaft; 45. Inner shaft output shaft; 46. First bearing; 47. Second bearing; 48. Third bearing; 5. Steel belt drive assembly; 51. Boom; 511. Front boom; 512. Rear boom; 513. Boom connecting rod; 514. Boom ejector screw; 515. Boom locking screw; 52. Drive pulley; 53. Large steel belt; 54. Driven large pulley; 55. Arm; 551. Front arm; 552. Rear arm; 553. Arm connecting rod; 554. Arm ejector screw; 555. Arm locking screw; 56. Small steel belt; 57. Drive pulley; 58. Driven pulley; 59. Load arm; 60. Load block. Detailed Implementation

[0031] The technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this disclosure. All other embodiments obtained by those skilled in the art based on the embodiments of this disclosure without creative effort are within the scope of protection of this disclosure.

[0032] The following detailed description, in conjunction with the accompanying drawings, outlines some embodiments of the present invention. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0033] Traditional steel strip testing platforms are basically used to perform tests on robots based on actual conditions. There is no platform specifically designed for testing steel strips. The robot's drive structure is complex, costly, and difficult to debug, making it unable to meet the needs of steel strips of different lengths.

[0034] In view of this, such as Figure 1-3 As shown, a robotic arm steel strip testing platform includes a frame body 1. The frame body 1 includes a base plate 11 and columns 12 located around the base plate 11. In this specific embodiment, there are 4 columns 12. Of course, more columns 12 can be added according to actual needs.

[0035] Furthermore, the robotic arm steel strip testing platform also includes an outer shaft drive assembly 2, an inner shaft drive assembly 3, and a coaxial drive assembly 4 located below the frame body 1. The outer shaft drive assembly 2, the inner shaft drive assembly 3, and the coaxial drive assembly 4 are used to realize power transmission. Specifically, the outer shaft drive assembly 2, the inner shaft drive assembly 3, and the coaxial drive assembly 4 are all fixedly connected to the base plate 11 of the frame body 1.

[0036] Furthermore, the upper part of the outer shaft drive assembly 2 is provided with an outer shaft drive pulley 21, and an outer shaft drive protective frame 211 is provided over the outer shaft drive pulley 21. The outer shaft drive protective frame 211 is fixedly connected to the lower surface of the base plate 11 of the frame body 1. The outer shaft drive protective frame 211 can protect the outer shaft drive pulley 21 and make the outer shaft drive assembly 2 more stably fixed on the frame body 1.

[0037] Furthermore, the upper part of the inner shaft drive assembly 3 is provided with an inner shaft drive pulley 31, and an inner shaft drive protective frame 311 is provided on the outer cover of the inner shaft drive pulley 31. The inner shaft drive protective frame 311 is fixedly connected to the lower surface of the base plate 11 of the frame body 1. The inner shaft drive protective frame 311 can protect the inner shaft drive pulley 31 and make the inner shaft drive assembly 3 more stably fixed on the frame body 1.

[0038] Furthermore, the coaxial drive assembly 4 is located between the outer shaft drive assembly 2 and the inner shaft drive assembly 3.

[0039] Furthermore, the coaxial drive assembly 4 includes a coaxial base 41, which is fixed to the base plate 11 of the frame body 1. The coaxial drive assembly 4 also includes an inner shaft driven pulley 42 and an outer shaft driven pulley 43, both located below the coaxial base 41. Specifically, the inner shaft driven pulley 42 is driven by an inner shaft output shaft 45, and the outer shaft driven pulley 43 is driven by an outer shaft output shaft 44. Both the inner shaft output shaft 45 and the outer shaft output shaft 44 are higher than the coaxial base 41, facilitating their connection to the drive pulley 52 and the large arm 51, respectively. Simultaneously, the inner shaft output shaft 45 is located inside the coaxial drive assembly 4, and the outer shaft output shaft 44 is sleeved on the outer surface of the inner shaft output shaft 45.

[0040] Furthermore, the outer shaft output shaft 44 is rotatably connected to the inner shaft output shaft 45 via a first bearing 46, the outer shaft output shaft 44 is rotatably connected to the coaxial base 41 via a second bearing 47, and the outer shaft output shaft 44 is rotatably connected to the steel belt drive assembly 5 located above the coaxial drive assembly 4 via a third bearing 48. In this way, the steel belt drive assembly 5 and the coaxial drive assembly 4 are connected, thereby realizing steel belt drive motion.

[0041] Furthermore, the inner shaft driven pulley 42 is connected to the inner shaft drive pulley 31 via the inner shaft synchronous belt 32, and the outer shaft driven pulley 43 is connected to the outer shaft drive pulley 21 via the outer shaft synchronous belt 22. This allows the inner shaft drive pulley 31 to drive the inner shaft driven pulley 42, and the outer shaft drive pulley 21 to drive the outer shaft driven pulley 43, thus achieving power transmission.

[0042] Specifically, the outer shaft drive pulley 21 of the outer shaft drive assembly 2 transmits power to the outer shaft driven pulley 43 through the outer shaft synchronous belt 22, thereby driving the outer shaft output shaft 44 to rotate. The inner shaft drive pulley 31 of the inner shaft drive assembly 3 transmits power to the inner shaft driven pulley 42 through the inner shaft synchronous belt 32, thereby driving the inner shaft output shaft 45 to rotate.

[0043] like Figure 3-6 As shown, a steel belt drive assembly 5 is further connected above the coaxial drive assembly 4, and the steel belt drive assembly 5 is used to realize the steel belt drive motion.

[0044] Furthermore, the steel belt drive assembly 5 includes a large arm 51, a small arm 55, and a load arm 59. The large arm 51 is fixedly connected to the outer shaft output shaft 44. When the outer shaft drive pulley 21 of the outer shaft drive assembly 2 transmits power to the outer shaft driven pulley 43 through the outer shaft synchronous belt 22, causing the outer shaft output shaft 44 to rotate, the power is transmitted to the large arm 51, causing the large arm 51 to rotate.

[0045] Furthermore, the steel belt drive assembly 5 also includes a driving large pulley 52, a driven large pulley 54, a driving small pulley 57, and a driven small pulley 58. Specifically, the driving large pulley 52 is fixedly connected to the inner shaft output shaft 44, and the driving large pulley 52 and the driven large pulley 54 are connected by a large steel belt 53. When the driving large pulley 52 rotates, the large steel belt 53 on the driving large pulley 52 drives the driven large pulley 54 to move. The driving small pulley 57 and the driven small pulley 58 are connected by a small steel belt 56. When the driving small pulley 57 rotates, the small steel belt 56 on the driving small pulley 57 drives the driven small pulley 58 to move. Driven large pulley 54 and drive small pulley 57 are rotatably connected by bearings. Meanwhile, small arm 55 is located between driven large pulley 54 and drive small pulley 57. Small arm 55 is rotatably connected to driven large pulley 54 and drive small pulley 57. Load arm 59 is fixedly connected to driven small pulley 58. One end of load arm 59 is provided with load block 60.

[0046] Further, the upper arm 51 includes a front upper arm 511 and a rear upper arm 512, which are connected by an upper arm connecting rod 513. The distance between the front upper arm 511 and the rear upper arm 512 is adjusted by upper arm ejection screws 514, and the front upper arm 511 and the rear upper arm 512 are locked and fixed by upper arm locking screws 515. Specifically, the upper arm ejection screws 514 are symmetrically arranged, located on the left and right sides of the front upper arm 511 and the rear upper arm 512 respectively. In this specific embodiment, there are two upper arm ejection screws 514, and the center distance between the two ends of the front upper arm 511 and the rear upper arm 512 is adjusted by two symmetrical upper arm ejection screws 514.

[0047] Further, the forearm 55 includes a front forearm 551 and a rear forearm 552, which are connected by a forearm connecting rod 553. The distance between the front forearm 551 and the rear forearm 552 is adjusted by a forearm ejection screw 554, and the front forearm 551 and the rear forearm 552 are locked and fixed by a forearm locking screw 555. Specifically, the forearm ejection screws 554 are symmetrically arranged, located on the left and right sides of the front forearm 551 and the rear forearm 552 respectively. In this specific embodiment, there are two forearm ejection screws 554, and the center distance between the two ends of the front forearm 551 and the rear forearm 552 is adjusted by two symmetrical forearm ejection screws 554.

[0048] The working principle of this patent is as follows: the outer shaft drive pulley 21 of the outer shaft drive assembly 2 transmits power to the outer shaft driven pulley 43 through the outer shaft synchronous belt 22, thereby driving the outer shaft output shaft 44 to rotate; the inner shaft drive pulley 31 of the inner shaft drive assembly 3 transmits power to the inner shaft driven pulley 42 through the inner shaft synchronous belt 32, thereby driving the inner shaft output shaft 45 to rotate.

[0049] Since the outer shaft output shaft 44 is fixedly connected to the upper arm 51 and moves relative to the drive pulley 52 fixed on the inner shaft output shaft 45, the power is transmitted to the driven pulley 54 through the large steel belt 53, thereby driving the forearm 55 fixed on the driven pulley 54 to rotate relative to the upper arm 51. The drive pulley 57 and the driven pulley 58 are connected through the small steel belt 56, and the upper arm 51 and the forearm 55 move relative to each other, thereby realizing the rotation of the driven pulley 58 relative to the forearm 55, thus realizing the overall coupled steel belt power transmission.

[0050] The main arm 51 is divided into two parts: the front main arm 511 and the rear main arm 512. The two parts are connected together by two main arm connecting rods 513. The center distance between the two ends can be adjusted by two symmetrical main arm push-out screws 514, thereby achieving the final tension of steel strips of different lengths. Finally, it is locked and fixed by the main arm locking screws 515. The adjustment method of the center distance between the two ends of the forearm 55 is the same as that of the main arm 51, making the overall structure of the steel strip testing platform simple, highly applicable, low in cost, and highly efficient.

[0051] In the foregoing description of this specification, unless otherwise expressly specified and limited, the terms "fixed," "installed," "connected," or "linked" should be interpreted broadly. For example, the term "linked" can refer to a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; or it can refer to the internal communication of two components or the interaction between two components. Therefore, unless otherwise expressly limited in this specification, those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0052] Based on the above description in this specification, those skilled in the art will also understand that terms used, such as "upper," "lower," "front," "rear," "left," "right," "length," "width," "thickness," "vertical," "horizontal," "top," "bottom," "inner," "outer," "axial," "radial," "circumferential," "center," "longitudinal," "transverse," "clockwise," or "counterclockwise," are terms indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings of this specification. They are only for the purpose of facilitating the explanation of the present invention and simplifying the description, and do not imply that the devices or elements involved must have the specific orientation, or be constructed and operated in a specific orientation. Therefore, the above-mentioned orientation or positional relationship terms should not be understood or interpreted as limitations on the present invention.

[0053] Furthermore, the terms "first" or "second," etc., used in this specification to refer to numbers or ordinal numbers are for descriptive purposes only and should not be construed as indicating, explicitly or implicitly, relative importance or specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this specification, "a plurality of" means at least two, such as two, three, or more, unless otherwise explicitly specified.

[0054] While various embodiments of the invention have been shown and described herein, it will be apparent to those skilled in the art that such embodiments are provided by way of example only. Many modifications, alterations, and alternatives will occur to those skilled in the art without departing from the spirit and essence of the invention. It should be understood that various alternatives to the embodiments of the invention described herein may be employed in the practice of the invention. The appended claims are intended to define the scope of protection of the invention and therefore cover modular compositions, equivalents, or alternatives within the scope of these claims.

Claims

1. A robotic steel band testing platform comprising a frame body, characterized in that, The robotic arm steel strip testing platform also includes an outer shaft drive assembly, an inner shaft drive assembly, and a coaxial drive assembly located below the frame body; The outer shaft drive assembly, inner shaft drive assembly, and coaxial drive assembly are used to realize power transmission. A steel belt drive assembly is connected above the coaxial drive assembly, and the steel belt drive assembly is used to realize the steel belt drive motion.

2. The robotic steel belt testing platform of claim 1, wherein, The upper part of the outer shaft drive assembly is provided with an outer shaft drive pulley, and an outer shaft drive protective frame is provided on the outer cover of the outer shaft drive pulley. The outer shaft drive protective frame is fixedly connected to the lower surface of the frame body.

3. The manipulator steel band test platform of claim 2, wherein, The upper part of the inner shaft drive assembly is provided with an inner shaft drive pulley, and an inner shaft drive protective frame is provided on the outer cover of the inner shaft drive pulley. The inner shaft drive protective frame is fixedly connected to the lower surface of the frame body.

4. The robotic steel belt testing platform of claim 3, wherein, The coaxial drive assembly is located between the outer shaft drive assembly and the inner shaft drive assembly. The coaxial drive assembly includes a coaxial base, which is fixed to the frame body. The coaxial drive assembly also includes an inner shaft driven pulley and an outer shaft driven pulley, both of which are located below the coaxial base. The inner shaft driven pulley is driven by an inner shaft output shaft, and the outer shaft driven pulley is driven by an outer shaft output shaft. Both the inner and outer shaft output shafts are higher than the coaxial base. The inner shaft output shaft is located inside the coaxial drive assembly, and the outer shaft output shaft is sleeved on the outer surface of the inner shaft output shaft.

5. The robotic steel belt testing platform of claim 4, wherein, The outer shaft output shaft is rotatably connected to the inner shaft output shaft via a first bearing, the outer shaft output shaft is rotatably connected to the coaxial base via a second bearing, and the outer shaft output shaft is rotatably connected to the steel belt drive assembly located above the coaxial drive assembly via a third bearing.

6. The robotic steel belt testing platform of claim 4, wherein, The inner shaft driven pulley is connected to the inner shaft drive pulley via an inner shaft synchronous belt, and the outer shaft driven pulley is connected to the outer shaft drive pulley via an outer shaft synchronous belt.

7. The robotic steel belt testing platform of claim 4, wherein, The steel belt drive assembly includes a large arm, a small arm, and a load arm. The large arm is fixedly connected to the outer shaft output shaft. The steel belt drive assembly also includes a large drive pulley, a large driven pulley, a small drive pulley, and a small driven pulley. The large drive pulley is fixedly connected to the inner shaft output shaft. The large drive pulley and the large driven pulley are connected by a large steel belt. The small drive pulley and the small driven pulley are connected by a small steel belt. The large driven pulley and the small drive pulley are rotatably connected by bearings. The small arm is located between the large driven pulley and the small drive pulley and is rotatably connected to both the large driven pulley and the small drive pulley. The load arm is fixedly connected to the small driven pulley, and a load block is provided at one end of the load arm.

8. The robotic steel belt testing platform of claim 7, wherein, The boom includes a front boom and a rear boom, which are connected by a boom connecting rod. The distance between the front boom and the rear boom is adjusted by a boom push-out screw, and the front boom and the rear boom are locked and fixed by a boom locking screw.

9. The robotic steel belt testing platform of claim 7, wherein, The forearm includes a front forearm and a rear forearm, which are connected by a forearm connecting rod. The distance between the front and rear forearms is adjusted by a forearm push-out screw, and the front and rear forearms are locked and fixed by a forearm locking screw.

10. The manipulator steel band test platform of any of claims 1-9, wherein, The rack body comprises a base plate and four columns located around the base plate.

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