CN113612101A - DBC board automatic assembly equipment - Google Patents
DBC board automatic assembly equipment Download PDFInfo
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- CN113612101A CN113612101A CN202110788770.7A CN202110788770A CN113612101A CN 113612101 A CN113612101 A CN 113612101A CN 202110788770 A CN202110788770 A CN 202110788770A CN 113612101 A CN113612101 A CN 113612101A
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- 230000000712 assembly Effects 0.000 claims description 17
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- 230000005540 biological transmission Effects 0.000 claims description 7
- LFQSCWFLJHTTHZ-UHFFFAOYSA-N Ethanol Chemical compound CCO LFQSCWFLJHTTHZ-UHFFFAOYSA-N 0.000 claims description 6
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
- H01R43/00—Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors
- H01R43/20—Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors for assembling or disassembling contact members with insulating base, case or sleeve
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Abstract
The invention discloses automatic DBC board assembling equipment, and aims to provide the automatic DBC board assembling equipment which can realize automatic assembling of a DBC board on an IGBT module, thereby improving the assembling efficiency of the IGBT module and effectively solving the problems of neglected assembling and inaccurate installing position of the DBC board. The mechanical arm comprises a rack, wherein a two-shaft mechanical arm is arranged on the rack; the IGBT module positioning tool is arranged on the rack and used for positioning the IGBT module; the two-axis manipulator is used for driving the mounting plate to move; DBC board grabbing device, DBC board grabbing device are used for going up and down including fixing support on the mounting panel, setting vertical guide rail on the support, along the gliding elevating platform of vertical guide rail, setting on the support the lift actuating mechanism of elevating platform, rotate the mounting disc of setting on the elevating platform, be used for driving mounting disc pivoted rotary actuator and set up the sucking disc module on the mounting disc, the sucking disc module is including the vacuum chuck who is used for absorbing the DBC board.
Description
Technical Field
The invention relates to automatic assembling equipment, in particular to automatic assembling equipment for a DBC (direct bus connector) board.
Background
The DBC board (copper-clad ceramic substrate) has excellent heat conduction characteristic, high insulativity, high current carrying capacity, excellent soldering resistance and high adhesion strength, can be etched into various circuit patterns like a PCB (printed circuit board), and is widely applied to IGBT modules. In the traditional IGBT module assembly process, the DBC board is assembled in a manual assembly mode, the DBC board is installed on the designated position of the IGBT module, and the manual assembly mode of the DBC board is low in installation efficiency, prone to leakage and inaccurate in installation position.
Disclosure of Invention
The invention aims to provide automatic DBC board assembling equipment which can realize automatic assembling of a DBC board on an IGBT module, thereby improving the assembling efficiency of the IGBT module and effectively solving the problems of neglected assembling and inaccurate installing position of the DBC board.
The technical scheme of the invention is as follows:
an automatic DBC board assembling apparatus, comprising:
the mechanical arm comprises a rack, wherein a two-shaft mechanical arm is arranged on the rack;
the IGBT module positioning tool is arranged on the rack and used for positioning the IGBT module;
the two-axis manipulator is used for driving the mounting plate to move;
DBC board grabbing device, DBC board grabbing device are used for going up and down including fixing support on the mounting panel, setting vertical guide rail on the support, along the gliding elevating platform of vertical guide rail, setting on the support the lift actuating mechanism of elevating platform, rotate the mounting disc of setting on the elevating platform, be used for driving mounting disc pivoted rotary actuator and set up the sucking disc module on the mounting disc, the sucking disc module is including the vacuum chuck who is used for absorbing the DBC board.
The automatic DBC board assembling apparatus according to the present embodiment works specifically as follows,
firstly, positioning an IGBT module to be assembled on an IGBT module positioning tool;
secondly, moving the DBC board gripping device through a two-axis manipulator, and sucking the DBC board to be assembled through a vacuum chuck;
thirdly, moving the DBC board sucked by the vacuum chuck to an IGBT module arranged on the GBT module positioning tool through a two-axis manipulator, and releasing the DBC board; then, returning to the second step, and circulating in such a way until the DBC board positioned on the IGBT module positioning tool is assembled; therefore, automatic assembly of the DBC board on the IGBT module is achieved, the assembly efficiency of the IGBT module is improved, and the problems of neglected assembly and inaccurate installation position of the DBC board are effectively solved.
Preferably, the vacuum chuck of same sucking disc module is a plurality of, and each vacuum chuck is around the circumference evenly distributed of the rotation axis of mounting disc, and the sucking disc module still includes a plurality of sucking disc adjusting device that set up on the mounting disc, sucking disc adjusting device and vacuum chuck one-to-one, and sucking disc adjusting device is used for the radial displacement of the rotation axis of driving the corresponding vacuum chuck along the mounting disc. Therefore, the radial position of the vacuum chuck on the mounting disc can be adjusted through the chuck adjusting device so as to adapt to the use of DBC plates with different shapes and specifications or different suction positions.
Preferably, the suction cup adjusting device comprises a fixed guide rail arranged on the lower surface of the mounting plate, a sliding block sliding along the fixed guide rail, a rack arranged on the sliding block and parallel to the fixed guide rail, a gear arranged on the mounting plate and meshed with the rack, and a suction cup driving motor for driving the gear to rotate, wherein the vacuum suction cup is arranged on the sliding block of the corresponding suction cup adjusting device. Therefore, the radial position of the vacuum chuck on the mounting plate can be accurately adjusted through the chuck adjusting device.
Preferably, the mounting disc is rotatably arranged on the lifting table through a vertical shaft rod, the support is provided with a lower limiting piece of the lifting table, and the lower limiting piece of the lifting table is positioned below the lifting table;
the DBC plate grabbing device further comprises a spline shaft sleeve rotatably arranged on the lifting platform, a spline shaft matched with the spline shaft sleeve, a pressure plate fixedly arranged on the vertical shaft rod, a supporting flat plate fixedly arranged on the support and an elastic rubber plate arranged on the upper surface of the supporting flat plate, the rotary executing mechanism is used for driving the spline shaft sleeve to rotate, the vertical shaft rod and the spline shaft are coaxially distributed, the spline shaft sleeve and the spline shaft are positioned above the vertical shaft rod, the spline shaft and the vertical shaft rod are connected through a coupler, the pressure plate is positioned below the lifting platform, the pressure plate is positioned above the elastic rubber plate, shaft rod through holes are formed in the supporting flat plate and the elastic rubber plate, the vertical shaft rod penetrates through the shaft rod through holes in the supporting flat plate and the elastic rubber plate, and the mounting plate is positioned below the supporting flat plate;
when the elevating platform supports on the spacing piece under the elevating platform, the upper end of integral key shaft is located the below of spline shaft sleeve, integral key shaft and spline shaft sleeve separation, and the pressure disk compresses tightly on the elastic rubber board to prevent vertical axostylus axostyle and rotate.
The specific process that the DBC board gripping device sucks the DBC board to be assembled through the vacuum chuck is as follows, the lifting execution mechanism drives the mounting disc and the vacuum chuck to move downwards until the lifting platform abuts against the lower limiting piece of the lifting platform; secondly, sucking a DBC plate to be assembled through a vacuum chuck, and in the process of sucking the DBC plate through the vacuum chuck, the inventor finds that once a program fault or an operator misoperation occurs, the misoperation of driving a mounting disc to rotate by a rotary actuating mechanism occurs, the DBC plate sucking failure of the vacuum chuck can be caused, and even the DBC plate is damaged; in order to solve the problem, the inventor improves a DBC plate grabbing device so as to solve the problem, and particularly, when a lifting actuating mechanism drives a mounting plate and a vacuum chuck to move downwards to enable a lifting platform to abut against a lower limiting piece of the lifting platform, a spline shaft is separated from a spline shaft sleeve, and a pressure plate is tightly pressed on an elastic rubber plate so as to prevent a vertical shaft rod from rotating; therefore, in the process of sucking the DBC board to be assembled by the vacuum chuck, the problems that the DBC board is not sucked by the vacuum chuck and is even damaged due to the fact that misoperation of rotating the installation disc driven by the rotary actuating mechanism occurs due to program faults or misoperation of an operator can be avoided; simultaneously, because the pressure disk compresses tightly on the elastic rubber board, can prevent that vacuum chuck from absorbing the in-process of DBC board, vertical axostylus axostyle takes place to rotate to make lift actuating mechanism drive vacuum chuck and absorb the DBC board and shift up the in-process, the integral key shaft can be smooth gets into in the integral key shaft sleeve, makes integral key shaft and the cooperation of integral key shaft sleeve, so that the work that DBC board grabbing device can be smooth.
Preferably, the pressure plate is arranged coaxially with the vertical shaft.
Preferably, the rotary actuator comprises a suction cup driving motor fixed on the bracket and a belt transmission mechanism or a gear transmission mechanism connecting an output shaft of the suction cup driving motor and the spline shaft sleeve.
Preferably, the IGBT module positioning tool comprises a tray and a plurality of positioning assemblies arranged on the tray, the positioning assemblies are used for IGBT modules, the positioning assemblies comprise IGBT module positioning pins arranged on the tray, a supporting platform on the rack and tray positioning pins arranged on the supporting platform, the tray is supported on the supporting platform, and positioning holes matched with the tray positioning pins are formed in the tray.
Preferably, the IGBT module positioning tool comprises a tray and a plurality of positioning assemblies arranged on the tray, the positioning assemblies are used for IGBT modules and comprise IGBT module positioning pins arranged on the tray, the tray is supported on the conveying track and conveyed through the conveying track,
the tray lifting device comprises a lifting plate, a lifting cylinder arranged on the rack and used for lifting the lifting plate, a tray baffle arranged on one side of the lifting plate and a tray positioning block arranged on the rack and positioned above the conveying track, wherein the tray baffle is used for stopping a tray conveyed along the conveying track, the lifting cylinder is used for lifting the lifting plate, and the tray stopped by the tray baffle is jacked up and supported on the tray positioning block.
Preferably, the rack is also provided with an alcohol box with an upward opening.
Preferably, the device further comprises a DBC positioning camera and an IGBT module positioning camera, wherein the DBC positioning camera is arranged on the frame and is used for photographing the DBC board sucked on the vacuum chuck; the IGBT module positioning camera is fixed on the mounting plate and used for photographing the IGBT module on the IGBT module positioning tool.
Preferably, the number of the DBC board grabbing devices is two, and the IGBT module positioning camera is located between the two DBC board grabbing devices.
The invention has the beneficial effects that: the automatic assembly of the DBC board on the IGBT module can be realized, so that the assembly efficiency of the IGBT module is improved, and the problems of neglected assembly and inaccurate installation position of the DBC board are effectively solved.
Drawings
Fig. 1 is a schematic structural view of an automatic DBC board assembling apparatus according to an embodiment of the present invention.
Fig. 2 is a plan view of an automatic DBC board assembling apparatus according to an embodiment of the present invention.
Fig. 3 is a side view of an automatic DBC board assembling apparatus according to an embodiment of the present invention.
Fig. 4 is a top view of an IGBT module positioning tool of an automatic DBC board assembling apparatus according to the present invention.
Fig. 5 is a schematic structural view of a DBC board gripping device of an automatic DBC board assembling apparatus according to an embodiment of the present invention.
Fig. 6 is a bottom view of fig. 5.
Fig. 7 is another structural schematic view of a DBC board gripping device of an automatic DBC board assembling apparatus according to an embodiment of the present invention.
In the figure:
a frame 1;
the mechanical arm comprises a two-axis mechanical arm 2, a longitudinal guide rail 2.1, a translation cross beam 2.2, a transverse guide rail 2.3 and a mounting plate 2.4;
the device comprises a DBC plate grabbing device 3, a support 3.1, a vertical guide rail 3.2, a lifting platform 3.3, a lifting execution mechanism 3.4, a mounting disc 3.5, a sucker driving motor 3.6, a lifting platform lower limiting piece 3.7, a lifting platform upper limiting piece 3.8, a vacuum sucker 3.9, a sucker driving motor 3.10, a gear 3.11, a fixed guide rail 3.12, a sliding block 3.13, a rack 3.14, a vertical shaft rod 3.15, a spline shaft sleeve 3.16, a spline shaft 3.17, a pressure plate 3.18, a belt transmission mechanism 3.19, a supporting flat plate 3.20 and an elastic rubber plate 3.21;
a conveying track 4;
the device comprises a tray lifting device 5, a lifting plate 5.1, a tray baffle 5.2 and a tray positioning block 5.3;
an IGBT module positioning camera 6;
the DBC positioning camera 7;
an alcohol box 8;
IGBT module location frock 9, tray 9.1, locating component 9.2, IGBT module locating pin 9.21.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention are clearly explained and illustrated below with reference to the accompanying drawings, but the following embodiments are only preferred embodiments of the present invention, and not all embodiments. Based on the embodiments in the implementation, other embodiments obtained by those skilled in the art without any creative effort belong to the protection scope of the present invention.
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below by referring to the drawings are exemplary only for explaining the present scheme, and are not construed as limiting the scheme of the present invention.
These and other aspects of embodiments of the invention will be apparent with reference to the following description and attached drawings. In the description and drawings, particular embodiments of the invention have been disclosed in detail as being indicative of some of the ways in which the principles of the embodiments of the invention may be practiced, but it is understood that the scope of the embodiments of the invention is not limited thereby. On the contrary, the embodiments of the invention include all changes, modifications and equivalents coming within the spirit and terms of the claims appended hereto.
In the description of the present invention, it is to be understood that the terms "thickness", "upper", "lower", "horizontal", "top", "bottom", "inner", "outer", "circumferential", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used merely for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., and "several" means one or more unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; may be mechanically coupled, may be electrically coupled or may be in communication with each other; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
The first embodiment is as follows: as shown in fig. 1, fig. 2, fig. 3, fig. 4, fig. 5, and fig. 6, an automatic DBC board assembling apparatus includes a rack 1, an IGBT module positioning tool 9, a mounting plate 2.4, and a DBC board gripping device 3. And a two-axis manipulator 2 is arranged on the rack and used for driving the mounting plate to move in the X-axis and Y-axis directions. Concretely, the diaxon manipulator is including setting up longitudinal rail 2.1 in the frame, translation crossbeam 2.2 along the longitudinal rail translation, be used for driving the translation crossbeam along the longitudinal rail translation's longitudinal line module and set up transverse guide 2.3 and the transverse line module on the translation crossbeam, the mounting panel slides along transverse guide, transverse line module drive mounting panel along transverse guide translation, wherein, longitudinal rail and transverse guide are horizontal distribution, longitudinal rail is mutually perpendicular with transverse guide, longitudinal rail is parallel with Y axle direction, transverse guide is parallel with X axle direction.
The IGBT module positioning tool is arranged on the rack and used for positioning the IGBT module.
DBC board grabbing device 3 is including fixing support 3.1 on the mounting panel, setting vertical guide rail 3.2 on the support, along the gliding elevating platform of vertical guide rail 3.3, set up and be used for going up and down on the support the lift actuating mechanism 3.4 of elevating platform, rotate the mounting disc 3.5 of setting on the elevating platform, be used for driving mounting disc pivoted rotary actuator and set up the sucking disc module on the mounting disc. The suction cup module comprises a vacuum suction cup 3.9 for sucking up the DBC plate. In this embodiment, lift actuating mechanism is lift cylinder or electric putter or sharp module, and rotatory actuating mechanism is sucking disc driving motor 3.6, and sucking disc driving motor sets up on the elevating platform, and the direct drive mounting disc rotates, and the vertical distribution of rotation axis of mounting disc.
The automatic DBC board assembling apparatus according to the present embodiment works specifically as follows,
firstly, positioning an IGBT module to be assembled on an IGBT module positioning tool;
secondly, moving the DBC board gripping device through a two-axis manipulator, and sucking the DBC board to be assembled through a vacuum chuck;
thirdly, moving the DBC board sucked by the vacuum chuck to an IGBT module arranged on the GBT module positioning tool through a two-axis manipulator, and releasing the DBC board; then, returning to the second step, and circulating in such a way until the DBC board positioned on the IGBT module positioning tool is assembled; therefore, automatic assembly of the DBC board on the IGBT module is achieved, the assembly efficiency of the IGBT module is improved, and the problems of neglected assembly and inaccurate installation position of the DBC board are effectively solved.
Specifically, the automatic DBC board assembling equipment further comprises a DBC positioning camera 7 and an IGBT module positioning camera 6. The DBC positioning camera is arranged on the rack and used for photographing the DBC plate sucked on the vacuum chuck. The IGBT module positioning camera is fixed on the mounting plate and used for photographing the IGBT module on the IGBT module positioning tool. The rack is also provided with an alcohol box 8 with an upward opening.
In this embodiment, there are two DBC board grabbing devices, and the IGBT module positioning camera is located between the two DBC board grabbing devices. The two DBC plate grabbing devices are located at the same height.
After the vacuum chuck absorbs the DBC board to be assembled, firstly moving the DBC board on the vacuum chuck to the position above the DBC positioning camera through the two-axis manipulator, and photographing the DBC board absorbed on the vacuum chuck through the DBC positioning camera to obtain the azimuth coordinate of the DBC board absorbed on the vacuum chuck; then, the DBC plate on the vacuum chuck is moved to the position above the alcohol box by the two-axis manipulator; then, the lifting actuating mechanism drives the DBC plate sucked by the vacuum chuck to move downwards, so that the DBC plate is dipped in a small amount of alcohol, and then the lifting actuating mechanism drives the DBC plate sucked by the vacuum chuck to move upwards and reset;
the third step is specifically operated as follows, the DBC plate sucked from the vacuum sucker is moved to the position above the IGBT module on the GBT module positioning tool through the two-axis manipulator, at the moment, the IGBT module positioning camera is also moved to the position above the IGBT module on the GBT module positioning tool, and then the IGBT module to be assembled is photographed through the IGBT module positioning camera to obtain the azimuth coordinate of the IGBT module to be assembled; then, adjusting the position of the DBC plate sucked on the vacuum chuck through a rotary executing mechanism and a two-axis manipulator to align the DBC plate to the assembling position of the IGBT module to be assembled; then, the lifting actuating mechanism drives the DBC plate sucked on the vacuum chuck to move downwards to the proper position, then the DBC plate is released, and the DBC plate is assembled on the assembling position of the IGBT module; and then, returning to the second step, and circulating in such a way until the DBC board positioned on the IGBT module arranged on the IGBT module positioning tool is assembled.
Further, as shown in fig. 5, a lower limiting member 3.7 of the lifting table is arranged on the support, and the lower limiting member of the lifting table is positioned below the lifting table. The support is provided with a limiting piece 3.8 on the lifting platform, and the limiting piece on the lifting platform is positioned above the lifting platform.
Further, as shown in fig. 5 and 6, there are a plurality of vacuum chucks 3.9 of the same chuck module, and in this embodiment, there are 3 vacuum chucks of the same chuck module. The vacuum suckers are uniformly distributed around the circumference of the rotating shaft of the mounting disc. The sucker module further comprises a plurality of sucker adjusting devices arranged on the mounting plate, and the sucker adjusting devices correspond to the vacuum suckers one by one. The suction cup adjusting device is used for driving the corresponding vacuum suction cup to move along the radial direction of the rotating shaft of the mounting plate. Therefore, the radial position of the vacuum chuck on the mounting disc can be adjusted through the chuck adjusting device so as to adapt to the use of DBC plates with different shapes and specifications or different suction positions.
The sucker adjusting device comprises a fixed guide rail 3.12 arranged on the lower surface of the mounting disc, a sliding block 3.13 sliding along the fixed guide rail, a rack 3.14 arranged on the sliding block and parallel to the fixed guide rail, a gear 3.11 arranged on the mounting disc and meshed with the rack, and a sucker driving motor 3.10 for driving the gear to rotate. The vacuum suction cups are arranged on the slide blocks of the corresponding suction cup adjusting devices. Therefore, the radial position of the vacuum chuck on the mounting plate can be accurately adjusted through the chuck adjusting device.
In a second embodiment, the remaining structure of the present embodiment refers to the first embodiment, and the difference therebetween is that:
as shown in fig. 1, 2, 3, and 4, the DBC board automatic assembling apparatus further includes a conveying rail 4 and a tray lifting device 5 disposed on the frame. The conveying tracks are distributed horizontally. In this embodiment, the conveying direction of the conveying track is parallel to the transverse guide rail.
The IGBT module positioning tool 9 comprises a tray 9.1 and a plurality of positioning assemblies 9.2 arranged on the tray, and the positioning assemblies are used for IGBT modules. The locating component comprises an IGBT module locating pin 9.21 arranged on the tray, a fabrication hole matched with the locating pin is formed in the IGBT module, the IGBT module is supported on the tray, and the fabrication hole of the IGBT module is matched with the IGBT module locating pin so as to locate the IGBT module on the locating component. One positioning assembly positions one IGBT module. The tray is supported on and conveyed by the conveying track.
The tray lifting device 5 comprises a lifting plate 5.1, a lifting cylinder arranged on the rack and used for lifting the lifting plate, a tray baffle 5.2 arranged on one side of the lifting plate and a tray positioning block 5.3 arranged on the rack and positioned above the conveying track. The tray positioning block is positioned above the lifting plate. The tray baffle is used for stopping the tray conveyed along the conveying track. The lifting cylinder is used for lifting the lifting plate, and the tray stopped by the tray baffle is jacked up and is abutted to the tray positioning block. Specifically, the tray is conveyed to the position above the lifting plate along the conveying track and abuts against the tray baffle plate, so that the tray is stopped on the conveying track in a blocking mode; then, the lifting cylinder jacks up the lifting plate, so that the tray is jacked up through the lifting plate and is abutted against the tray positioning block; afterwards, on the DBC board automatic assembly equipment assembled the DBC board to the assembly position of IGBT module, after the assembly of the DBC board on the IGBT module location frock set up was accomplished, the lift cylinder drove the lifting board and descends to place the tray again on the delivery track, transport backward through the delivery track.
In a third embodiment, the remaining structure of the present embodiment refers to the first embodiment, and the difference therebetween is that:
a support platform on the frame and a tray positioning pin arranged on the support platform.
As shown in fig. 4, the IGBT module positioning tool 9 includes a tray 9.1 and a plurality of positioning assemblies 9.2 arranged on the tray, the positioning assemblies are used for the IGBT module, the positioning assemblies include IGBT module positioning pins 9.21 arranged on the tray, the IGBT module is provided with process holes matched with the positioning pins, the IGBT module is supported on the tray, and the process holes of the IGBT module are matched with the IGBT module positioning pins so as to position the IGBT module on the positioning assemblies. One positioning assembly positions one IGBT module.
The tray is supported on the supporting platform, and the tray is provided with a positioning hole matched with the positioning pin of the tray. In this embodiment, through artifical manual, place the supporting platform with the tray on to fix a position through tray locating pin and locating hole cooperation.
In a fourth embodiment, the remaining structure of the present embodiment refers to the first embodiment, and the difference therebetween is that:
as shown in fig. 7, the mounting plate 3.5 is rotatably arranged on the lifting table by means of a vertical shaft 3.15. The DBC plate grabbing device further comprises a spline shaft sleeve 3.16 which is rotatably arranged on the lifting platform, a spline shaft 3.17 which is matched with the spline shaft sleeve, a pressure plate 3.18 which is fixedly arranged on the vertical shaft rod, a supporting flat plate 3.20 which is fixedly arranged on the support and an elastic rubber plate 3.21 which is arranged on the upper surface of the supporting flat plate. The rotary actuating mechanism is used for driving the spline shaft sleeve to rotate, and in the embodiment, the rotary actuating mechanism comprises a sucker driving motor 3.6 fixed on the support and a belt transmission mechanism 3.19 or a gear transmission mechanism for connecting an output shaft of the sucker driving motor and the spline shaft sleeve.
The vertical shaft rod and the spline shaft are coaxially distributed. The spline shaft sleeve and the spline shaft are positioned above the vertical shaft rod, and the spline shaft is connected with the vertical shaft rod through the coupler. The pressure disk is located the below of elevating platform, and the pressure disk distributes with vertical axostylus axostyle is coaxial. The pressure plate is positioned above the elastic rubber plate. The support flat plate and the elastic rubber plate are both provided with shaft lever through holes. The vertical shaft rod penetrates through shaft rod through holes in the supporting flat plate and the elastic rubber plate, and the mounting disc is located below the supporting flat plate.
When the elevating platform supports on the spacing piece under the elevating platform, the upper end of integral key shaft is located the below of spline shaft sleeve, integral key shaft and spline shaft sleeve separation, and the pressure disk compresses tightly on the elastic rubber board to prevent vertical axostylus axostyle and rotate.
The specific process that the DBC board gripping device sucks the DBC board to be assembled through the vacuum chuck is as follows, the lifting execution mechanism drives the mounting disc and the vacuum chuck to move downwards until the lifting platform abuts against the lower limiting piece of the lifting platform; secondly, sucking a DBC plate to be assembled through a vacuum chuck, and in the process of sucking the DBC plate through the vacuum chuck, the inventor finds that once a program fault or an operator misoperation occurs, the misoperation of driving a mounting disc to rotate by a rotary actuating mechanism occurs, the DBC plate sucking failure of the vacuum chuck can be caused, and even the DBC plate is damaged; in order to solve the problem, the inventor improves a DBC plate grabbing device so as to solve the problem, and particularly, when a lifting actuating mechanism drives a mounting plate and a vacuum chuck to move downwards to enable a lifting platform to abut against a lower limiting piece of the lifting platform, a spline shaft is separated from a spline shaft sleeve, and a pressure plate is tightly pressed on an elastic rubber plate so as to prevent a vertical shaft rod from rotating; therefore, in the process of sucking the DBC board to be assembled by the vacuum chuck, the problems that the DBC board is not sucked by the vacuum chuck and is even damaged due to the fact that misoperation of rotating the installation disc driven by the rotary actuating mechanism occurs due to program faults or misoperation of an operator can be avoided; simultaneously, because the pressure disk compresses tightly on the elastic rubber board, can prevent that vacuum chuck from absorbing the in-process of DBC board, vertical axostylus axostyle takes place to rotate to make lift actuating mechanism drive vacuum chuck and absorb the DBC board and shift up the in-process, the integral key shaft can be smooth gets into in the integral key shaft sleeve, makes integral key shaft and the cooperation of integral key shaft sleeve, so that the work that DBC board grabbing device can be smooth.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and all simple modifications, alterations and equivalents of the above embodiments according to the technical spirit of the present invention are still within the protection scope of the technical solution of the present invention.
Claims (10)
1. An automatic DBC board assembling device is characterized by comprising:
the mechanical arm comprises a rack, wherein a two-shaft mechanical arm is arranged on the rack;
the IGBT module positioning tool is arranged on the rack and used for positioning the IGBT module;
the two-axis manipulator is used for driving the mounting plate to move;
DBC board grabbing device, DBC board grabbing device are used for going up and down including fixing support on the mounting panel, setting vertical guide rail on the support, along the gliding elevating platform of vertical guide rail, setting on the support the lift actuating mechanism of elevating platform, rotate the mounting disc of setting on the elevating platform, be used for driving mounting disc pivoted rotary actuator and set up the sucking disc module on the mounting disc, the sucking disc module is including the vacuum chuck who is used for absorbing the DBC board.
2. The automatic DBC board assembling device of claim 1, wherein the number of the vacuum chucks of the same chuck module is plural, the vacuum chucks are uniformly distributed around the circumference of the rotating shaft of the mounting plate, the chuck module further comprises a plurality of chuck adjusting devices arranged on the mounting plate, the chuck adjusting devices are in one-to-one correspondence with the vacuum chucks, and the chuck adjusting devices are used for driving the corresponding vacuum chucks to move along the radial direction of the rotating shaft of the mounting plate.
3. The automatic DBC plate assembling apparatus of claim 2, wherein the suction cup adjusting means includes a fixed rail provided on a lower surface of the mounting plate, a slider sliding along the fixed rail, a rack provided on the slider and parallel to the fixed rail, a gear provided on the mounting plate and engaged with the rack, and a suction cup driving motor for driving the gear to rotate, and the vacuum suction cup is installed on the slider of the corresponding suction cup adjusting means.
4. The automatic DBC board assembling device of claim 1, 2 or 3, wherein the mounting plate is rotatably arranged on the lifting table through a vertical shaft rod, the support is provided with a lower lifting table limiting piece, and the lower lifting table limiting piece is positioned below the lifting table;
the DBC plate grabbing device further comprises a spline shaft sleeve rotatably arranged on the lifting platform, a spline shaft matched with the spline shaft sleeve, a pressure plate fixedly arranged on the vertical shaft rod, a supporting flat plate fixedly arranged on the support and an elastic rubber plate arranged on the upper surface of the supporting flat plate, the rotary executing mechanism is used for driving the spline shaft sleeve to rotate, the vertical shaft rod and the spline shaft are coaxially distributed, the spline shaft sleeve and the spline shaft are positioned above the vertical shaft rod, the spline shaft and the vertical shaft rod are connected through a coupler, the pressure plate is positioned below the lifting platform, the pressure plate is positioned above the elastic rubber plate, shaft rod through holes are formed in the supporting flat plate and the elastic rubber plate, the vertical shaft rod penetrates through the shaft rod through holes in the supporting flat plate and the elastic rubber plate, and the mounting plate is positioned below the supporting flat plate;
when the elevating platform supports on the spacing piece under the elevating platform, the upper end of integral key shaft is located the below of spline shaft sleeve, integral key shaft and spline shaft sleeve separation, and the pressure disk compresses tightly on the elastic rubber board to prevent vertical axostylus axostyle and rotate.
5. The automatic DBC board assembling device of claim 4, wherein the pressing plate is coaxially distributed with the vertical shaft.
6. The automatic DBC board assembling device of claim 4, wherein the rotary actuator comprises a sucker driving motor fixed on the support and a belt transmission mechanism or a gear transmission mechanism connecting an output shaft of the sucker driving motor and the spline shaft sleeve.
7. The automatic DBC board assembling device of claim 1, 2 or 3, wherein the IGBT module positioning tool comprises a tray and a plurality of positioning assemblies arranged on the tray, the positioning assemblies are used for IGBT modules, the positioning assemblies comprise IGBT module positioning pins arranged on the tray, a support platform arranged on the rack and tray positioning pins arranged on the support platform, the tray is supported on the support platform, and positioning holes matched with the tray positioning pins are formed in the tray.
8. The automatic DBC board assembling device of claim 1, 2 or 3, further comprising a conveying track and a tray lifting device which are arranged on the frame, wherein the IGBT module positioning tool comprises a tray and a plurality of positioning assemblies arranged on the tray, the positioning assemblies are used for IGBT modules, the positioning assemblies comprise IGBT module positioning pins arranged on the tray, the tray is supported on the conveying track and conveyed through the conveying track,
the tray lifting device comprises a lifting plate, a lifting cylinder arranged on the rack and used for lifting the lifting plate, a tray baffle arranged on one side of the lifting plate and a tray positioning block arranged on the rack and positioned above the conveying track, wherein the tray baffle is used for stopping a tray conveyed along the conveying track, the lifting cylinder is used for lifting the lifting plate, and the tray stopped by the tray baffle is jacked up and supported on the tray positioning block.
9. The automatic DBC board assembling device of claim 1, 2 or 3, wherein the rack is further provided with an alcohol box which is opened upwards.
10. The automatic DBC board assembling device of claim 1, 2 or 3, further comprising a DBC positioning camera and an IGBT module positioning camera, wherein the DBC positioning camera is arranged on the frame and used for taking pictures of the DBC board sucked on the vacuum chuck; the IGBT module positioning camera is fixed on the mounting plate and used for photographing the IGBT module on the IGBT module positioning tool.
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| CN202110788770.7A CN113612101B (en) | 2021-07-13 | 2021-07-13 | DBC board automatic assembly equipment |
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| CN202110788770.7A CN113612101B (en) | 2021-07-13 | 2021-07-13 | DBC board automatic assembly equipment |
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| CN113612101B (en) | 2024-02-13 |
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