CN113903684A - IGBT module top cap assembly device - Google Patents
IGBT module top cap assembly device Download PDFInfo
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- CN113903684A CN113903684A CN202111069463.XA CN202111069463A CN113903684A CN 113903684 A CN113903684 A CN 113903684A CN 202111069463 A CN202111069463 A CN 202111069463A CN 113903684 A CN113903684 A CN 113903684A
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
- H01L21/67739—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations into and out of processing chamber
- H01L21/67742—Mechanical parts of transfer devices
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/67005—Apparatus not specifically provided for elsewhere
- H01L21/67011—Apparatus for manufacture or treatment
- H01L21/67121—Apparatus for making assemblies not otherwise provided for, e.g. package constructions
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/67005—Apparatus not specifically provided for elsewhere
- H01L21/67011—Apparatus for manufacture or treatment
- H01L21/67155—Apparatus for manufacturing or treating in a plurality of work-stations
- H01L21/67184—Apparatus for manufacturing or treating in a plurality of work-stations characterized by the presence of more than one transfer chamber
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/67005—Apparatus not specifically provided for elsewhere
- H01L21/67242—Apparatus for monitoring, sorting or marking
- H01L21/67276—Production flow monitoring, e.g. for increasing throughput
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
- H01L21/67703—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations between different workstations
- H01L21/67706—Mechanical details, e.g. roller, belt
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
- H01L21/67703—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations between different workstations
- H01L21/67736—Loading to or unloading from a conveyor
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- Condensed Matter Physics & Semiconductors (AREA)
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- Manufacturing & Machinery (AREA)
- Computer Hardware Design (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Power Engineering (AREA)
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- Automation & Control Theory (AREA)
- Specific Conveyance Elements (AREA)
Abstract
The invention discloses an IGBT module top cover assembling device, and belongs to the technical field of power semiconductors. The device comprises a rack 1, an empty tray lifting mechanism 15, an empty tray grabbing mechanism 2, a tray carrying conveying mechanism 14, an empty tray steering mechanism 16, a tray blocking and positioning mechanism 5, a module rotating and positioning mechanism 3, a module grabbing mechanism 4, a module glue dispensing mechanism 6, a top cover feeding mechanism 13, a top cover sucking and assembling mechanism 8, a top cover pressure maintaining mechanism 10, a full tray steering mechanism 11, a tray carrying discharging and lifting mechanism 12, a top cover assembling and positioning camera 9 and a top cover lower detection camera 17. The device adopts the loading and unloading in the direction vertical to the carrying disc conveying mechanism. The module grabbing position can be rotated, and the positioning plate can be quickly disassembled and assembled. The glue dispensing valve can rotate in direction. And visual detection guidance is provided for glue dispensing and top cover assembly. The pressure maintaining mechanism is provided with a pressure sensor. A plurality of top cover feeding modules. The tray carrying track is adjustable.
Description
Technical Field
The invention belongs to the technical field of power semiconductors, and particularly relates to an IGBT module top cover assembling device.
Background
The intelligent power module is a representative hybrid IC package, a plurality of chips comprising an IGBT device, a driving circuit, a protection circuit and a control circuit are connected through welding wires or copper strips and packaged in the same shell to form a partial or complete function and relatively independent IGBT module, and the intelligent power module has the characteristics of simple driving, easy realization of overvoltage, overcurrent protection, high switching frequency and the like, and is very suitable for the field of medium-voltage driving.
The packaging procedures of the power modules are various, the models are different, and how to improve the production efficiency of the modules and improve the consistency of final products is a difficult problem in the field of IGBT packaging test at present.
In the current power module packaging process, the module top cover is assembled by manually assisting with a tool positioning mode, and the top cover is installed on the module after glue pouring. The mode has low production efficiency and high labor cost, and is seriously dependent on the skill of personnel, so that the consistency of the final product is difficult to ensure. Only a few kinds of automatic equipment are only suitable for one model and cannot be compatible with other models, and flexible manufacturing is difficult to realize.
Disclosure of Invention
The invention aims to provide an automatic device for a module top cover assembling procedure in the IGBT module packaging manufacturing process, which solves the problems in the production.
The invention is realized by the following technical scheme:
the utility model provides a IGBT module top cap assembly device, including frame 1, empty year dish material basket elevating system 15, empty year dish snatchs mechanism 2, year dish transport mechanism 14, empty year dish steering mechanism 16, year dish blocks positioning mechanism 5, module rotational positioning mechanism 3, the module snatchs mechanism 4, module point gum machine constructs 6, top cap feed mechanism 13, top cap absorb equipment mechanism 8, top cap pressurize mechanism 10, full year dish steering mechanism 11, year dish unloading elevating system 12 and top cap equipment location camera 9, detect camera 17 under the top cap.
The empty tray lifting mechanism 15 comprises a tray 1501, a fifteenth mounting plate 1502, a fifteenth servo motor 1503, a fifteenth upper and lower linear module 1504, a fifteenth conveyor belt 1505, a conveying shaft 1506 and a synchronous belt conveying system 1507, wherein the empty tray lifting mechanism 1501 is fixed on the rack 1 through the fifteenth mounting plate 1502, the fifteenth upper and lower linear module 1504 is mounted on the fifteenth mounting plate 1502, the fifteenth servo motor 1503 drives the fifteenth upper and lower linear module 1504, and the tray 1501 is mounted on a sliding table of the fifteenth upper and lower linear module 1504. Two fifteenth conveyor belts 1505 are installed on the tray 1501, the two conveyor belts 1505 are connected through a conveying shaft 1506, and a driving motor drives the fifteenth conveyor belt 1505 to run through a synchronous belt conveying system 1507. The empty baskets are placed on a fifteenth conveyor 1505 and the fifteenth conveyor 1505 and a fifteenth up-down linear module 1504 transport the empty baskets to a set position.
The empty-load disc grabbing mechanism 2 comprises a second servo motor 201, a second mounting plate 202, a second horizontal linear module 203, a second pneumatic clamping jaw 204, a material disc push block 205, a second clamping jaw mounting plate 206 and a second up-down cylinder 207;
the function that the mechanism 2 was snatched to the empty year dish is to carry the dish to take out from the basket, place on transfer rail, the empty year dish snatchs mechanism 2 and fixes in frame 1 through second mounting panel 201, the horizontal sharp module 203 of second is installed on second mounting panel 202, by the drive of second servo motor 201, install the support on the slip table on it, cylinder 207 is fixed on the slip table of the horizontal sharp module 203 of second about the second, the pneumatic clamping jaw 204 of second passes through second clamping jaw mounting panel 206 and fixes on the piston of cylinder 207 about the second, still be provided with charging tray ejector pad 205 on the second clamping jaw, pneumatic finger is installed to the clamping jaw end.
The disk carrying conveying mechanism 14 is composed of a first conveying track 1401 and a second conveying track 1402, each section of conveying track 1401 comprises a hexagonal shaft 14011, a fourteenth servo motor 14012, a first fixed supporting seat 14013, a sliding supporting seat 14014, a sliding guide rail 14015, a second fixed supporting seat 14016, a fixed guide rail 14017 and a fourteenth conveying belt 14018;
the first transport rail 1401 of the disk carrier transport mechanism 14 is fixed to the frame by a pair of a first fixed support 14013, a second fixed support 14016, and a slide support 14014, respectively, wherein the second fixed support 14016 directly supports the fixed guide 14017, the first fixed support 14013 and the second fixed support 14016 support the slide support 14015 by a ball screw, and the slide guide 14015 is supported on the two slide supports 14014.
A fourteenth servo motor 14012 drives the fourteenth conveying belt 14018 through a synchronous belt drive system;
the arrangement of the sliding support base 14014 can adjust the distance between the fixed guide rail 14017 and the sliding guide rail 14015, so as to adapt to the carrying discs with different sizes.
Empty year dish steering mechanism 16 installs in the middle of the transfer orbit for carry the conversion of dish direction of transfer and the fixed position of carrying the dish, empty year dish turns to positioning mechanism and includes sixteenth mounting panel 1601, tray 1602, sixteenth conveyer belt 1603, locating plate 1604, locating pin 1605, sixteenth driving motor 1606, linear bearing 1607, buffer 1608, stop bolt 1609, guiding axle 1610, sixteenth jacking cylinder 1611, fix in frame 1 through sixteenth mounting panel 1601, install sixteenth jacking cylinder 1610 on the sixteenth mounting panel 1601, connect locating plate 1604 on the piston rod of sixteenth jacking cylinder 1610, there is locating pin 1605 on the sixteenth locating plate, locating pin 1605 cooperates with the locating hole of carrying the dish, a position for confirm to carry the dish. Four linear bearings 1607 are installed around the sixteenth lifting cylinder 1611, the guide shaft 1610 passes through the guide shaft, the tray 1602 is connected to one end of the guide shaft 1610, and a sixteenth conveyor belt 1603 on the tray is driven by a sixteenth driving motor 1606. Two limit bolts 1609 and two dampers 1608 are mounted to the other end of the guide shaft 1610.
The carrier disc blocking and positioning mechanism 5 comprises a blocking part and a positioning part, wherein the blocking part comprises a blocking block 507, a blocking cylinder 508 and a blocking cylinder mounting seat 509, the blocking block 507 is mounted on the blocking cylinder 508, the blocking cylinder 508 is mounted on a rack through the blocking cylinder mounting seat 509, the positioning part comprises a fifth jacking cylinder 501, a fifth mounting plate 502, a linear bearing 503, a guide shaft 504, a positioning pin 505, a positioning plate 506, a limiting bolt 510 and a buffer 511, the fifth mounting plate 502 is fixed on the rack, the fifth jacking cylinder 501 is arranged on the fifth mounting plate 502, four guide shafts 504 penetrate through the fifth mounting plate 502 through the linear bearing 503 around the fifth jacking cylinder 501, the positioning plate 506 is connected with a piston of the fifth jacking cylinder 501 and one end of the guide shaft 504, and two buffers 511 and two limiting bolts 510 are mounted at the other end of the guide shafts 504;
a plurality of groups of carrier disc blocking and positioning mechanisms 5 are arranged in the middle of the carrier disc conveying mechanism 14.
The module rotary positioning mechanism 3 is used for receiving a module to be assembled transmitted in a previous process, the module rotary positioning mechanism 3 comprises a third mounting bracket 301, a third rotary cylinder 302, a module positioning plate 303, a knob plunger 304, a positioning pin 305, a photoelectric sensor 306, a guide shaft 307 and a guide support 308, the third rotary cylinder 302 is fixed on the frame through the third mounting bracket 301, the module positioning plate 303 is fixed on the rotary cylinder 302 through the knob plunger, and the corresponding positioning plate can be quickly replaced according to the module model. Meanwhile, a photoelectric sensor 306 is installed through a guide shaft, and the guide shaft 307 is fixed on the frame through a guide support 308.
The module grabbing mechanism 4 is used for taking down the module from the module positioning plate and placing the module in the carrying disc. Including fourth stand 401, electronic clamping jaw 402, straight line module 403 about the fourth, cylinder 404 about the fourth, servo motor 405 around the fourth, servo motor 406 about the fourth, straight line module 407 around the fourth, the module snatchs mechanism 4 and installs in the frame through four fourth stand 401, cylinder 404 about the fourth is through straight line module 403 about, straight line module 407 and four fourth stand 401 are installed in the frame around the fourth, install electronic clamping jaw 402 on the piston rod of cylinder 404 about the fourth, install the clamping jaw finger that corresponds with the module on the electronic clamping jaw 402.
The module glue dispensing mechanism 6 comprises a sixth upright post 601, a sixth left-right linear module 602, a sixth front-back linear module 603, a sixth upper-lower linear module 604, a sixth upper-lower servo motor 605, a sixth front-back servo motor 606, a glue dispensing valve 607, a sixth rotary cylinder 608 and a glue dispensing guide camera 609, wherein the module glue dispensing mechanism 6 is installed on the rack 1 through 4 sixth upright posts 601, the sixth rotary cylinder 608 is installed on the sixth upright post 601 through the sixth left-right linear module 602, the sixth front-back linear module 603 and the sixth upper-lower linear module 604, and the glue dispensing valve 607 is fixed on a turntable of the sixth rotary cylinder 608.
A dispensing guide camera 609 is further installed on the sliding table of the sixth upper and lower linear module 604, and dispensing is guided on the module by the dispensing guide camera 609.
The top cover feeding mechanism 13 comprises a thirteenth jacking motor 1301, a thirteenth jacking module 1302, a thirteenth-first mounting plate 1303, a thirteenth-second mounting plate 1304, a material box 1305, a module top cover 1306 and a correlation sensor 1307;
two magazines 1305 are mounted on the rack by two thirteenth-second mounting plates 1304, and module tops 1306 are placed in the magazines 1305, so that two sets of tops can be loaded at a time. During feeding, the top cover is placed in the material box and is quickly fixed through the knob plunger. An opposite-injection sensor 1307 is mounted on a support around the magazine 1305 to detect the height of the top cover. A thirteenth jacking module 1302 is installed below each magazine 1305 and fixed to the rack through a thirteenth-first installation plate 1303, the thirteenth jacking module 1302 is used for jacking the top cover to a certain height, and the thirteenth jacking module 1302 is driven by a thirteenth jacking motor 1301.
Each device is provided with two top cover feeding mechanisms 13, and feeding of four groups of top covers can be completed at one time.
The top cover sucking and assembling mechanism 8 is used for accurately mounting the top cover on the module, and the top cover sucking and assembling mechanism 8 comprises an eighth upright column 801, an eighth upper and lower linear module 802, an eighth left and right linear module 803, an eighth upper and lower servo motor 804, an eighth left and right servo motor 805, an eighth front and rear linear module 806, an eighth rotary servo motor 807 and a suction nozzle 808;
an eighth rotary servo motor 807 is supported on four eighth upright posts 801 through an eighth upper and lower straight line module 802, an eighth left and right straight line module 803 and an eighth front and rear straight line module 806, the four eighth upright posts are mounted on the machine frame, and a suction nozzle 808 is connected below the eighth rotary servo motor 807 and used for sucking the top cover.
The top cover pressure maintaining mechanism 10 comprises an L-shaped mounting bracket 1001, a cylinder mounting plate 1002, a lower pressure cylinder 1003, a pressure sensor 1004 and a pressure plate 1005;
the top cover pressure maintaining mechanism 10 is fixed on the frame 1 through an L-shaped mounting bracket 1001, a plurality of lower air cylinders 1003 are arranged on the L-shaped mounting bracket 1001 through an air cylinder mounting plate 1002, a pressure sensor 1004 is mounted below each lower air cylinder 1003, and a pressure plate 1005 is mounted at the other end of each pressure sensor 1004 and used for combining the top cover and the module with a set pressure.
The full-load tray steering mechanism 11 comprises a vertical conveying belt transmission system 1101, a vertical conveying belt driving motor 1102, a equidirectional conveying belt mounting plate 1103, a vertical conveying belt mounting plate 1104, an equidirectional conveying belt 1105, a vertical conveying belt 1106, an equidirectional conveying belt driving motor 1108, a jacking cylinder 1107 and an equidirectional conveying belt transmission system 1108;
the lower part of the equidirectional conveying belt 1105 is arranged on a rack through a jacking cylinder 1107 and an equidirectional conveying belt mounting plate 1103, the vertical conveying belt 1106 is arranged on the rack through a vertical conveying belt mounting plate 1104, and the equidirectional conveying belt 1105 and the vertical conveying belt 1106 are respectively driven by an equidirectional conveying belt driving motor 1108 and a vertical conveying belt driving motor 1102 through respective transmission systems;
the equidirectional conveying belt is a conveying belt with the same conveying direction as the conveying direction of the carrying disc conveying mechanism 14, the vertical conveying belt is a conveying belt perpendicular to the conveying direction of the carrying disc conveying mechanism 14, when the equidirectional conveying belt 1105 is butted with the conveying belt of the carrying disc conveying mechanism 14, the carrying disc is conveyed to the equidirectional conveying belt 1105 from the conveying belt of the carrying disc conveying mechanism 14 after the jacking air cylinder 1107 jacks and docks, the jacking air cylinder 1107 falls, the carrying disc falls onto the vertical conveying belt 1106, and the vertical conveying belt 1106 conveys the carrying disc to the full carrying disc blanking lifting mechanism 12.
The full-load tray blanking lifting mechanism 12 and the empty-load tray lifting mechanism 15 have the same structure.
The device also comprises a top cover assembling and positioning camera 9 and a top cover lower detection camera 16, wherein the top cover lower detection camera 16 is arranged between the top cover feeding mechanism 13 and the carrying disc conveying mechanism 14 and is used for detecting the defects of the top cover and determining the initial position and the direction of the top cover; the top cover assembling and positioning camera 9 is installed above the top cover sucking and assembling mechanism 8 and used for determining the accurate position of the module after dispensing is completed and guiding the top cover sucking and assembling mechanism 8 to move.
The working process of the invention is as follows:
after the carrying disc is delivered to a set position through the empty carrying disc material basket lifting mechanism 15, the carrying disc grabbing mechanism 2 takes the carrying disc out of the material basket of the empty carrying disc material basket lifting mechanism 15, the carrying disc is placed on the empty carrying disc steering mechanism 16 of the conveying track of the carrying disc conveying mechanism 14 and placed on the conveying track of the carrying disc conveying mechanism 14 after steering, when the carrying disc is delivered to the carrying disc blocking and positioning mechanism 5, the carrying disc blocking and positioning mechanism 5 blocks and positions the module to be assembled, meanwhile, the module to be assembled is placed on the module rotating and positioning mechanism 3, after rotating and positioning, the module grabbing mechanism 4 grabs the module to be assembled and placed in the positioned carrying disc, the module dispensing mechanism 6 leads dispensing on the module through the dispensing guide camera, the top cover feeding mechanism 13 jacks up the top cover to the set position, the top cover sucking and assembling mechanism 8 accurately installs the top cover on the module, the top cover pressure maintaining mechanism 10 presses the assembled top cover for a period of time at a specified pressure, after the assembly is finished, the full-load plate steering mechanism 11 adjusts the direction and then sends the full-load plate steering mechanism into a material basket of the blanking lifting mechanism 12.
The invention has the following beneficial effects:
1. the loading and unloading in the direction perpendicular to the carrying disc conveying mechanism are adopted, so that the occupied space of the equipment is reduced, and the dustless precious space resources can be fully utilized.
The module snatchs the position rotatable, can realize incessant module and supply with, but locating plate quick assembly disassembly, the module of compatible different models, fast switch over product.
The dispensing valve is rotatable in direction, so that dispensing operation in different directions is realized, and dispensing uniformity is guaranteed.
4. And the glue dispensing and the top cover assembly are guided by visual detection, so that the method is suitable for the assembly operation of module top covers of different models, not only can ensure accurate positioning, but also can detect the operation quality in real time.
5. The pressure maintaining mechanism is provided with a pressure sensor, so that the consistency of the assembly pressure of the product can be ensured.
6. The multi-group top cover feeding module can realize the uninterrupted operation of top cover assembly.
7. The carrying disc conveying track is adjustable and compatible with different carrying disc sizes.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is an overall top view of the present invention;
FIG. 3 is a schematic view of the empty tray lifting mechanism 15 of the present invention;
FIG. 4 is a schematic view of the airborne disk-grabbing mechanism 2 of the present invention;
FIG. 5 is a schematic view of the boat transport mechanism 14 of the present invention;
FIG. 6 is a schematic view of the air brake disc steering mechanism 16 of the present invention;
FIG. 7 is a schematic view of the boat block positioning mechanism 5;
FIG. 8 is a schematic view of the module rotational positioning mechanism 3;
FIG. 9 is a schematic view of the module grasping mechanism 4 of the present invention;
FIG. 10 is a schematic view of the modular dispensing mechanism 6 of the present invention;
FIG. 11 is a side view of the modular dispensing mechanism 6 of the present invention;
FIG. 12 is a schematic view of the lid loading mechanism 13 of the present invention;
fig. 13 is a schematic view of the cap sucking and assembling mechanism 8 of the present invention;
fig. 14 is a schematic view of the head holding pressure mechanism 10 of the present invention;
FIG. 15 is a schematic view of the full capacity disk steering mechanism 11 of the present invention;
in the figure: 1-a rack, 2-an empty tray grabbing mechanism, 3-a module rotating and positioning mechanism, 4-a module grabbing mechanism, 5-a tray blocking and positioning mechanism, 6-a module glue dispensing mechanism, 8-a top cover sucking and assembling mechanism, 9-a top cover assembling and positioning camera, 10-a top cover pressure maintaining mechanism, 11-a full tray steering mechanism, 12-a tray discharging and lifting mechanism, 13-a top cover feeding mechanism, 14-a tray conveying mechanism, 15-an empty tray basket lifting mechanism, 16-an empty tray steering mechanism and 17-a top cover lower detection camera.
201-a second servo motor, 202-a second mounting plate, 203-a second horizontal linear module, 204-a second pneumatic clamping jaw, 205-a material tray pushing block, 206-a second clamping jaw mounting plate and 207-a second up-down cylinder;
301-third mounting bracket, 302-third rotary cylinder, 303-module positioning plate, 304-knob plunger, 305-positioning pin, 306-photoelectric sensor, 307-guide shaft, 308-guide support;
401-a fourth upright post, 402-an electric clamping jaw, 403-a fourth left-right linear module, 404-a fourth upper-lower cylinder, 405-a fourth front-rear servo motor, 406-a fourth left-right servo motor and 407-a fourth front-rear linear module;
501-a fifth jacking cylinder, 502-a fifth mounting plate, 503-a linear bearing, 504-a guide shaft, 505-a positioning pin, 506-a positioning plate, 507-a blocking block, 508-a blocking cylinder, 509-a blocking cylinder mounting seat, 510-a limiting bolt and 511-a buffer;
601-a sixth upright post, 602-a sixth left-right linear module, 603-a sixth front-back linear module, 604-a sixth upper-lower linear module, 605-a sixth upper-lower servo motor, 606-a sixth front-back servo motor, 607-a dispensing valve, 608-a sixth rotary cylinder, 609-a dispensing guide camera;
801-an eighth upright post, 802-an eighth upper and lower linear module, 803-an eighth left and right linear module, 804-an eighth upper and lower servo motor, 805-an eighth left and right servo motor, 806-an eighth front and rear linear module, 807-an eighth rotary servo motor and 808-a suction nozzle;
1001-L-shaped mounting bracket, 1002-cylinder mounting plate, 1003-lower air cylinder, 1004-pressure sensor and 1005-pressure plate;
1101-a vertical conveying belt transmission system, 1102-a vertical conveying belt driving motor, 1103-an equidirectional conveying belt mounting plate, 1104-a vertical conveying belt mounting plate, 1105-an equidirectional conveying belt, 1106-a vertical conveying belt, 1107-a jacking cylinder and 1108-an equidirectional conveying belt driving motor;
1301-a thirteenth jacking motor, 1302-a thirteenth jacking module, 1303-a thirteenth-first mounting plate, 1304-a thirteenth-second mounting plate, 1305-a material box, 1306-a module top cover and 1307-a correlation sensor;
1401-a first conveying track, 1402-a second conveying track, 14011-a hexagonal shaft, 14012-a fourteenth servo motor, 14013-a first fixed supporting seat, 14014-a sliding supporting seat, 14015-a sliding guide rail, 14016-a second fixed supporting seat, 14017-a fixed guide rail and 14018-a fourteenth conveying belt;
1501-tray, 1502-fifteenth mounting plate, 1503-fifteenth servo motor, 1504-fifteenth upper and lower linear module, 1505-fifteenth conveyor belt, 1506-transmission shaft, 1507 synchronous belt transmission system;
the invention relates to a top cover assembling device of an IGBT (insulated gate bipolar transistor) module.A lifting mechanism 15 of an empty tray material basket comprises a tray 1501, a fifteenth mounting plate 1502, a fifteenth servo motor 1503, a fifteenth upper and lower linear module 1504, a fifteenth conveyor belt 1505, a conveying shaft 1506 and a synchronous belt conveying system 1507, wherein the lifting mechanism 1501 of the empty tray material basket is fixed on a rack 1 through the fifteenth mounting plate 1502, the fifteenth upper and lower linear module 1504 is mounted on the fifteenth mounting plate 1502, the fifteenth servo motor 1503 drives the fifteenth upper and lower linear module 1504, and the tray 1501 is mounted on a sliding table of the fifteenth upper and lower linear module 1504. Two fifteenth conveyor belts 1505 are installed on the tray 1501, the two conveyor belts 1505 are connected through a conveying shaft 1506, and a driving motor drives the fifteenth conveyor belt 1505 to run through a synchronous belt conveying system 1507. The empty baskets are placed on a fifteenth conveyor 1505 and the fifteenth conveyor 1505 and a fifteenth up-down linear module 1504 transport the empty baskets to a set position.
The empty-load disc grabbing mechanism 2 comprises a second servo motor 201, a second mounting plate 202, a second horizontal linear module 203, a second pneumatic clamping jaw 204, a disc pushing block 205, a second clamping jaw mounting plate 206 and a second up-down cylinder 207;
the empty load disc grabbing mechanism 2 is fixed on the frame 1 through a second mounting plate 201, a second horizontal linear module 203 is installed on a second mounting plate 202 and driven by a second servo motor 201, a support is installed on a sliding table on the second horizontal linear module, a second upper air cylinder 207 and a second lower air cylinder 207 are fixed on the sliding table of the second horizontal linear module 203, a second pneumatic clamping jaw 204 is fixed on a piston of the second upper air cylinder 207 and the second lower air cylinder 207 through a second clamping jaw mounting plate 206, a material disc pushing block 205 is further arranged on the second clamping jaw, and a pneumatic finger is installed at the tail end of the clamping jaw.
The disk carrying conveying mechanism 14 is composed of two conveying tracks 1401 and 1402, each conveying track 1401 comprises a hexagonal shaft 14011, a fourteenth servo motor 14012, a first fixed supporting seat 14013, a sliding supporting seat 14014, a sliding guide rail 14015, a second fixed supporting seat 14016, a fixed guide rail 14017 and a fourteenth conveying belt 14018;
the transport rail 1401 of the disk carrier transport mechanism 14 is fixed to the frame by a pair of a first fixed support 14013, a second fixed support 14016, and a slide support 14014, respectively, wherein the second fixed support 14016 directly supports the fixed guide 14017, the first fixed support 14013 and the second fixed support 14016 support the slide support 14015 by a ball screw, and the slide guide 14015 is supported on the two slide supports 14014.
A fourteenth servo motor 14012 drives the fourteenth conveying belt 14018 through a synchronous belt drive system;
the arrangement of the sliding support base 14014 can adjust the distance between the fixed guide rail 14017 and the sliding guide rail 14015, so as to adapt to the carrying discs with different sizes.
The advantage of the separation of the carrier transport mechanism 14 into two transport tracks 1401 and 1402 is that they can be run separately to meet different production requirements.
Empty year dish steering mechanism 16 installs in the middle of the transfer orbit for carry the conversion of dish direction of transfer and fix the position of carrying the dish, empty year dish turns to positioning mechanism and includes sixteenth mounting panel 1601, tray 1602, sixteenth conveyer belt 1603, locating plate 1604, locating pin 1605, sixteenth driving motor 1606, linear bearing 1607, buffer 1608, stop bolt 1609, guiding axle 1610, sixteenth jacking cylinder 1611, fix on frame 1 through sixteenth mounting panel 1601, install sixteenth jacking cylinder 1610 on the sixteenth mounting panel 1601, connect locating plate 1604 on the piston rod of sixteenth jacking cylinder 1610, there is locating pin 1605 on the sixteenth locating plate, locating pin 1605 cooperates with the locating hole of carrying the dish, be used for confirming the position of carrying the dish. Four linear bearings 1607 are installed around the sixteenth lifting cylinder 1611, the guide shaft 1610 passes through the guide shaft, the tray 1602 is connected to one end of the guide shaft 1610, and a sixteenth conveyor belt 1603 on the tray is driven by a sixteenth driving motor 1606. Two limit bolts 1609 and two dampers 1608 are mounted to the other end of the guide shaft 1610.
By the jacking and falling of the sixteenth jacking cylinder 1610, the empty load tray above the positioning plate 1604 realizes the switching of the conveying belts from the upper layer and the lower layer in different directions.
The carrier tray blocking and positioning mechanism 5 comprises a blocking part and a positioning part, wherein the blocking part comprises a blocking block 507, a blocking cylinder 508 and a blocking cylinder mounting seat 509, the blocking block 507 is mounted on the blocking cylinder 508, the blocking cylinder 508 is mounted on a rack through the blocking cylinder mounting seat 509, the positioning part comprises a fifth jacking cylinder 501, a fifth mounting plate 502, a linear bearing 503, a guide shaft 504, a positioning pin 505, a positioning plate 506, a limiting bolt 510 and a buffer 511, the fifth mounting plate 502 is fixed on the rack, the fifth jacking cylinder 501 is arranged on the fifth mounting plate 502, four guide shafts 504 penetrate through the fifth mounting plate 502 through the linear bearing 503 around the fifth jacking cylinder 501, the positioning plate 506 is connected with a piston of the fifth jacking cylinder 501 and one end of the guide shafts 504, and two buffers 511 and two limiting bolts 510 are mounted at the other end of each guide shaft 504;
a plurality of groups of carrying tray blocking and positioning mechanisms 5 are arranged in the middle of the carrying tray conveying mechanism 14, and the requirement of simultaneously feeding a plurality of carrying trays can be met.
The carrying tray blocking and positioning mechanism 5 is arranged at a position in the middle of the conveying track where the carrying tray needs to stop waiting, the blocking part blocks the carrying tray, and then the positioning part positions the carrying tray.
The module rotary positioning mechanism 3 is used for receiving a module to be assembled transmitted in a previous process, the module rotary positioning mechanism 3 comprises a third mounting bracket 301, a third rotary cylinder 302, a module positioning plate 303, a knob plunger 304, a positioning pin 305, a photoelectric sensor 306, a guide shaft 307 and a guide support 308, the third rotary cylinder 302 is fixed on the frame through the third mounting bracket 301, the module positioning plate 303 is fixed on the rotary cylinder 302 through the knob plunger, and the corresponding positioning plate can be quickly replaced according to the module model. Meanwhile, a photoelectric sensor 306 is installed through a guide shaft, and the guide shaft 307 is fixed on the frame through a guide support 308.
The module grabbing mechanism 4 is used for taking down the module from the module positioning plate and placing the module in the carrying disc. Including fourth stand 401, electronic clamping jaw 402, sharp module 403 about the fourth, cylinder 404 about the fourth, servo motor 405 around the fourth, servo motor 406 about the fourth, sharp module 407 around the fourth, the module snatchs mechanism 4 and installs in the frame through four fourth stand 401, straight line module 403 about the fourth is passed through to cylinder 404 about the fourth, sharp module 407 and four fourth stand 401 are installed in the frame around the fourth, install electronic clamping jaw 402 on the piston rod of cylinder 404 about the fourth, install the clamping jaw finger that corresponds with the module on the electronic clamping jaw 402.
The module glue dispensing mechanism 6 comprises a sixth upright post 601, a sixth left-right linear module 602, a sixth front-back linear module 603, a sixth upper-lower linear module 604, a sixth upper-lower servo motor 605, a sixth front-back servo motor 606, a glue dispensing valve 607, a sixth rotary cylinder 608 and a glue dispensing guide camera 609, wherein the module glue dispensing mechanism 6 is installed on the frame 1 through 4 sixth upright posts 601, the sixth rotary cylinder 608 is installed on the sixth upright post 601 through the sixth left-right linear module 602, the sixth front-back linear module 603 and the sixth upper-lower linear module 604, and the glue dispensing valve 607 is fixed on a turntable of the sixth rotary cylinder 608.
A dispensing guide camera 609 is further installed on the sliding table of the sixth upper and lower linear module 604, and dispensing is guided on the module by the dispensing guide camera 609.
The top cover feeding mechanism 13 comprises a thirteenth jacking motor 1301, a thirteenth jacking module 1302, a thirteenth-first mounting plate 1303, a thirteenth-second mounting plate 1304, a material box 1305, a module top cover 1306 and a correlation sensor 1307;
two magazines 1305 are mounted on the rack by two thirteenth-second mounting plates 1304, and module tops 1306 are placed in the magazines 1305, so that two sets of tops can be loaded at a time. During feeding, the top cover is placed in the material box and is quickly fixed through the knob plunger. An opposite-injection sensor 1307 is mounted on a support around the magazine 1305 to detect the height of the top cover. A thirteenth jacking module 1302 is installed below each magazine 1305 and fixed to the rack through a thirteenth-first installation plate 1303, the thirteenth jacking module 1302 is used for jacking the top cover to a certain height, and the thirteenth jacking module 1302 is driven by a thirteenth jacking motor 1301.
Each device is provided with two top cover feeding mechanisms 13, and feeding of four groups of top covers can be completed at one time.
The top cover sucking and assembling mechanism 8 is used for accurately mounting the top cover on the module, and the top cover sucking and assembling mechanism 8 comprises an eighth upright column 801, an eighth upper and lower linear module 802, an eighth left and right linear module 803, an eighth upper and lower servo motor 804, an eighth left and right servo motor 805, an eighth front and rear linear module 806, an eighth rotary servo motor 807 and a suction nozzle 808;
an eighth rotary servo motor 807 is supported on four eighth upright posts 801 through an eighth upper and lower straight line module 802, an eighth left and right straight line module 803 and an eighth front and rear straight line module 806, the four eighth upright posts are mounted on the machine frame, and a suction nozzle 808 is connected below the eighth rotary servo motor 807 and used for sucking the top cover.
The top cover pressure maintaining mechanism 10 comprises an L-shaped mounting bracket 1001, a cylinder mounting plate 1002, a lower pressure cylinder 1003, a pressure sensor 1004 and a pressure plate 1005;
the top cover pressure maintaining mechanism 10 is fixed on the frame 1 through an L-shaped mounting bracket 1001, a plurality of lower air cylinders 1003 are arranged on the L-shaped mounting bracket 1001 through an air cylinder mounting plate 1002, a pressure sensor 1004 is mounted below each lower air cylinder 1003, and a pressure plate 1005 is mounted at the other end of each pressure sensor 1004 and used for enabling the top cover to be combined with the module at a set pressure.
The full-load tray steering mechanism 11 comprises a vertical conveying belt transmission system 1101, a vertical conveying belt driving motor 1102, a equidirectional conveying belt mounting plate 1103, a vertical conveying belt mounting plate 1104, an equidirectional conveying belt 1105, a vertical conveying belt 1106, an equidirectional conveying belt driving motor 1108, a jacking cylinder 1107 and an equidirectional conveying belt transmission system 1108;
the lower part of the equidirectional conveying belt 1105 is arranged on a rack through a jacking cylinder 1107 and an equidirectional conveying belt mounting plate 1103, the vertical conveying belt 1106 is arranged on the rack through a vertical conveying belt mounting plate 1104, and the equidirectional conveying belt 1105 and the vertical conveying belt 1106 are respectively driven by an equidirectional conveying belt driving motor 1108 and a vertical conveying belt driving motor 1102 through respective transmission systems;
the equidirectional conveying belt is a conveying belt with the same conveying direction as the conveying direction of the carrying disc conveying mechanism 14, the vertical conveying belt is a conveying belt perpendicular to the conveying direction of the carrying disc conveying mechanism 14, when the equidirectional conveying belt 1105 is butted with the conveying belt of the carrying disc conveying mechanism 14, the carrying disc is conveyed to the equidirectional conveying belt 1105 from the conveying belt of the carrying disc conveying mechanism 14 after the jacking air cylinder 1107 jacks and docks, the jacking air cylinder 1107 falls, the carrying disc falls onto the vertical conveying belt 1106, and the vertical conveying belt 1106 conveys the carrying disc to the full carrying disc blanking lifting mechanism 12.
The full-load tray blanking lifting mechanism 12 and the empty-load tray lifting mechanism 15 have the same structure.
The device also comprises a top cover assembling and positioning camera 9 and a top cover lower detection camera 16, wherein the top cover lower detection camera 16 is arranged between the top cover feeding mechanism 13 and the carrying disc conveying mechanism 14 and is used for detecting the defects of the top cover and determining the initial position and the direction of the top cover; the top cover assembling and positioning camera 9 is installed above the top cover sucking and assembling mechanism 8 and used for determining the accurate position of the module after dispensing is completed and guiding the top cover sucking and assembling mechanism 8 to move.
The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.
Claims (5)
1. An IGBT module top cover assembling device is characterized by comprising a rack (1), an empty tray lifting mechanism (15), an empty tray grabbing mechanism (2), a tray conveying mechanism (14), an empty tray steering mechanism (16), a tray blocking and positioning mechanism (5), a module rotating and positioning mechanism (3), a module grabbing mechanism (4), a module dispensing mechanism (6), a top cover feeding mechanism (13), a top cover sucking and assembling mechanism (8), a top cover pressure maintaining mechanism (10), a full tray steering mechanism (11) and a tray loading and discharging lifting mechanism (12);
the empty-load disc material basket lifting mechanism (15) comprises a tray (1501), a fifteenth mounting plate (1502), a fifteenth servo motor (1503), a fifteenth up-down linear module (1504), a fifteenth conveying belt (1505), a conveying shaft (1506), a synchronous belt conveying system (1507), the empty-load disc material basket lifting mechanism (1501) is fixed on the rack (1) through the fifteenth mounting plate (1502), the fifteenth up-down linear module (1504) is mounted on the fifteenth mounting plate (1502), the fifteenth servo motor (1503) drives the fifteenth up-down linear module (1504), and the tray (1501) is mounted on a sliding table of the fifteenth up-down linear module (1504); two fifteenth conveyor belts (1505) are installed on the tray (1501), the two conveyor belts (1505) are connected through a conveying shaft (1506), and a driving motor drives the fifteenth conveyor belt (1505) to run through a synchronous belt conveying system (1507); empty baskets are placed on a fifteenth conveyor (1505);
the empty-load disc grabbing mechanism (2) comprises a second servo motor (201), a second mounting plate (202), a second horizontal linear module (203), a second pneumatic clamping jaw (204), a disc pushing block (205), a second clamping jaw mounting plate (206) and a second up-down cylinder (207);
the empty load disc grabbing mechanism (2) is fixed on the rack (1) through a second mounting plate (201), a second horizontal linear module (203) is mounted on a second mounting plate (202) and driven by a second servo motor (201), a support is mounted on a sliding table on the empty load disc grabbing mechanism, a second upper air cylinder and a second lower air cylinder (207) are fixed on the sliding table of the second horizontal linear module (203), a second pneumatic clamping jaw (204) is fixed on a piston of the second upper air cylinder and the second lower air cylinder (207) through a second clamping jaw mounting plate (206), a disc pushing block (205) is further arranged on the second clamping jaw, and a pneumatic finger is mounted at the tail end of the clamping jaw;
the disc carrying conveying mechanism (14) consists of a first conveying track (1401) and a second conveying track (1402), each section of conveying track (1401) comprises a hexagonal shaft (14011), a fourteenth servo motor (14012), a first fixed supporting seat (14013), a sliding supporting seat (14014), a sliding guide rail (14015), a second fixed supporting seat (14016), a fixed guide rail (14017) and a fourteenth conveying belt (14018);
the first conveying track (1401) of the disk carrying conveying mechanism (14) is respectively fixed on a frame through a pair of a first fixed supporting seat (14013), a second fixed supporting seat (14016) and a sliding supporting seat (14014), wherein the second fixed supporting seat (14016) directly supports a fixed guide rail (14017), the first fixed supporting seat (14013) and the second fixed supporting seat (14016) support the sliding supporting seat (14015) through a ball screw, and the sliding guide rail (14015) is supported on the two sliding supporting seats (14014);
a fourteenth servo motor (14012) drives a fourteenth conveying belt (14018) through a synchronous belt transmission system;
the empty load disk steering mechanism (16) is arranged in the middle of a conveying track and comprises a sixteenth mounting plate (1601), a tray (1602), a sixteenth conveying belt (1603), a positioning plate (1604), positioning pins (1605), a sixteenth driving motor (1606), linear bearings (1607), a buffer (1608), a limit bolt (1609), a guide shaft (1610) and a sixteenth jacking cylinder (1611) which are fixed on a rack (1) through the sixteenth mounting plate (1601), wherein the sixteenth jacking cylinder (1610) is arranged on the sixteenth mounting plate (1601), a positioning plate (1604) is connected to a piston rod of the sixteenth jacking cylinder (1610), the sixteenth positioning plate is provided with the positioning pins (1605), the positioning pins (1605) are matched with positioning holes of the load disk and used for determining the position of the load disk, four linear bearings (1607) are arranged around the sixteenth jacking cylinder (1611), and the guide shaft (1610) passes through the positioning pins, the tray (1602) is connected with one end of the guide shaft (1610), a sixteenth conveying belt (1603) on the tray is driven by a sixteenth driving motor (1606), and two limiting bolts (1609) and two buffers (1608) are arranged at the other end of the guide shaft (1610);
the loading tray blocking and positioning mechanism (5) comprises a blocking part and a positioning part, the blocking part comprises a blocking block (507), a blocking cylinder (508), a blocking cylinder mounting seat (509), the blocking block (507) is mounted on the blocking cylinder (508), the blocking cylinder (508) is mounted on a rack through the blocking cylinder mounting seat (509), the positioning part comprises a fifth jacking cylinder (501), a fifth mounting plate (502), a linear bearing (503), a guide shaft (504), a positioning pin (505), a positioning plate (506), a limiting bolt (510), a buffer (511), the fifth mounting plate (502) is fixed on the rack, the fifth jacking cylinder (501) is arranged on the fifth mounting plate (502), four guide shafts (504) penetrate through the fifth mounting plate (502) through the linear bearing (503) around the fifth jacking cylinder (501), and the positioning plate (506) is connected with one end of a piston and the guide shaft (504) of the fifth jacking cylinder (501), the other end of the guide shaft (504) is provided with two buffers (511) and two limit bolts (510);
the module rotating and positioning mechanism (3) comprises a third mounting bracket (301), a third rotating cylinder (302), a module positioning plate (303), a knob plunger (304), a positioning pin (305), a photoelectric sensor (306), a guide shaft (307) and a guide support (308), wherein the third rotating cylinder (302) is fixed on the rack through the third mounting bracket (301), the module positioning plate (303) is fixed on the rotating cylinder (302) through the knob plunger and can be quickly replaced corresponding to the positioning plate according to the module type;
the module grabbing mechanism (4) comprises a fourth upright (401), an electric clamping jaw (402), a fourth left-right straight line module (403), a fourth upper-lower cylinder (404), a fourth front-rear servo motor (405), a fourth left-right servo motor (406) and a fourth front-rear straight line module (407), wherein the module grabbing mechanism (4) is installed on the rack through four fourth uprights (401), the fourth upper-lower cylinder (404) is installed on the rack through the fourth left-right straight line module (403), the fourth front-rear straight line module (407) and four fourth uprights (401), the electric clamping jaw (402) is installed on a piston rod of the fourth upper-lower cylinder (404), and a clamping jaw finger corresponding to the module is installed on the electric clamping jaw (402);
the module glue dispensing mechanism (6) comprises a sixth upright post (601), a sixth left-right linear module (602), a sixth front-back linear module (603), a sixth upper-lower linear module (604), a sixth upper-lower servo motor (605), a sixth front-back servo motor (606), a glue dispensing valve (607), a sixth rotary cylinder (608), a glue dispensing guide camera (609), the module glue dispensing mechanism (6) is installed on the rack (1) through four sixth upright posts (601), the sixth rotary cylinder (608) is installed on the sixth left-right linear module (602), the sixth front-back linear module (603), the sixth upper-lower linear module (604) is installed on the sixth upright post (601), and the glue dispensing valve (607) is fixed on a turntable of the sixth rotary cylinder (608);
the top cover feeding mechanism (13) comprises a thirteenth jacking motor (1301), a thirteenth jacking module (1302), a thirteenth-first mounting plate (1303), a thirteenth-second mounting plate (1304), a material box (1305), a module top cover (1306) and a correlation sensor (1307);
the two material boxes (1305) are arranged on the rack through two thirteenth-second mounting plates (1304), a module top cover (1306) is placed in the material boxes (1305), opposite-jet sensors (1307) are arranged on supports on the periphery of the material boxes (1305), a thirteenth jacking module (1302) is arranged below each material box (1305) and fixed on the rack through a thirteenth-first mounting plate (1303), and the thirteenth jacking module (1302) is driven by a thirteenth jacking motor (1301);
the top cover sucking and assembling mechanism (8) comprises an eighth upright post (801), an eighth upper and lower linear module (802), an eighth left and right linear module (803), an eighth upper and lower servo motor (804), an eighth left and right servo motor (805), an eighth front and rear linear module (806), an eighth rotary servo motor (807) and a suction nozzle (808);
an eighth rotary servo motor (807) is supported on four eighth upright posts (801) through an eighth upper and lower straight line module (802), an eighth left and right straight line module (803) and an eighth front and rear straight line module (806), the four eighth upright posts (801) are installed on the machine frame, and a suction nozzle (808) is connected below the eighth rotary motor (807);
the top cover pressure maintaining mechanism (10) comprises an L-shaped mounting bracket (1001), a cylinder mounting plate (1002), a pressing cylinder (1003), a pressure sensor (1004) and a pressing plate (1005);
the top cover pressure maintaining mechanism (10) is fixed on the rack (1) through an L-shaped mounting bracket (1001), the L-shaped mounting bracket (1001) is provided with a plurality of lower air cylinders (1003) through air cylinder mounting plates (1002), a pressure sensor (1004) is mounted below each lower air cylinder (1003), and a pressure plate (1005) is mounted below each pressure sensor (1004);
the full-load plate steering mechanism (11) comprises a vertical conveying belt transmission system (1101), a vertical conveying belt driving motor (1102), a equidirectional conveying belt mounting plate (1103), a vertical conveying belt mounting plate (1104), a equidirectional conveying belt (1105), a vertical conveying belt (1106), a equidirectional conveying belt driving motor (1108), a jacking cylinder (1107) and a equidirectional conveying belt transmission system (1108);
the lower part of the equidirectional conveying belt (1105) is arranged on a rack through a jacking cylinder (1107) and an equidirectional conveying belt mounting plate (1103), the vertical conveying belt (1106) is arranged on the rack through a vertical conveying belt mounting plate (1104), and the equidirectional conveying belt (1105) and the vertical conveying belt (1106) are respectively driven by an equidirectional conveying belt driving motor (1108) and a vertical conveying belt driving motor (1102) through respective transmission systems;
the full-load tray blanking lifting mechanism (12) and the empty-load tray lifting mechanism (15) have the same structure.
2. The IGBT module top cover assembling device according to claim 1, further comprising a top cover assembling and positioning camera (9) and a top cover lower detection camera (16), wherein the top cover lower detection camera (16) is installed between the top cover feeding mechanism (13) and the tray conveying mechanism (14); the top cover assembling and positioning camera (9) is arranged above the top cover sucking and assembling mechanism (8).
3. The IGBT module top cover assembling device according to claim 1, characterized in that a plurality of sets of carrier plate blocking and positioning mechanisms (5) are installed in the middle of the carrier plate conveying mechanism (14).
4. The IGBT module top cover assembly device according to claim 1, wherein a dispensing guide camera (609) is further mounted on the sliding table of the sixth upper and lower linear module (604).
5. The IGBT module top cover assembly device according to claim 1, wherein each device is provided with two top cover feeding mechanisms (13), and four groups of top covers can be fed at one time.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111069463.XA CN113903684A (en) | 2021-09-13 | 2021-09-13 | IGBT module top cap assembly device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111069463.XA CN113903684A (en) | 2021-09-13 | 2021-09-13 | IGBT module top cap assembly device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113903684A true CN113903684A (en) | 2022-01-07 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111069463.XA Withdrawn CN113903684A (en) | 2021-09-13 | 2021-09-13 | IGBT module top cap assembly device |
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| Country | Link |
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| CN (1) | CN113903684A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114813764A (en) * | 2022-06-01 | 2022-07-29 | 广东美卡智能信息技术有限公司 | Cell-phone accessory visual detection equipment |
-
2021
- 2021-09-13 CN CN202111069463.XA patent/CN113903684A/en not_active Withdrawn
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114813764A (en) * | 2022-06-01 | 2022-07-29 | 广东美卡智能信息技术有限公司 | Cell-phone accessory visual detection equipment |
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Application publication date: 20220107 |