CN116313897B - IGBT pin inserting machine - Google Patents
IGBT pin inserting machine Download PDFInfo
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- CN116313897B CN116313897B CN202211715192.5A CN202211715192A CN116313897B CN 116313897 B CN116313897 B CN 116313897B CN 202211715192 A CN202211715192 A CN 202211715192A CN 116313897 B CN116313897 B CN 116313897B
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- 230000007246 mechanism Effects 0.000 claims description 19
- 230000000712 assembly Effects 0.000 claims description 17
- 238000000429 assembly Methods 0.000 claims description 17
- 239000000463 material Substances 0.000 claims description 10
- 210000000078 claw Anatomy 0.000 claims description 9
- 230000000694 effects Effects 0.000 claims description 4
- 238000003780 insertion Methods 0.000 claims description 4
- 230000037431 insertion Effects 0.000 claims description 4
- 230000004888 barrier function Effects 0.000 claims description 2
- 238000011144 upstream manufacturing Methods 0.000 claims description 2
- 238000005056 compaction Methods 0.000 abstract description 3
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- 238000010586 diagram Methods 0.000 description 13
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- 238000004806 packaging method and process Methods 0.000 description 1
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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
- H01L21/67242—Apparatus for monitoring, sorting or marking
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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
- H01L21/67253—Process monitoring, e.g. flow or thickness monitoring
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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
- H01L21/67259—Position monitoring, e.g. misposition detection or presence detection
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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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/50—Manufacturing or production processes characterised by the final manufactured product
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Abstract
The invention provides an IGBT pin inserting machine, and belongs to the technical field of pin inserting machines. The IGBT pin inserting machine comprises a feeding assembly, a tray conveying assembly, a discharging grabbing assembly, a pin inserting assembly, a discharging assembly and an NG buffer conveying assembly, and can automatically finish feeding, detecting feeding and blanking; automatically completing needle taking, needle length detection and needle point position detection; automatically completing positioning, compaction and contact pin of the jig; automatically completing the feedback of the condition of the conveying and the inserting needle; automatic contact pin reduces the manpower, practices thrift the cost, and contact pin technology's efficiency can greatly improve.
Description
Technical Field
The invention belongs to the technical field of automatic pin inserting machines, and particularly relates to an IGBT pin inserting machine.
Background
The IGBT (insulated gate bipolar transistor) is a compound power semiconductor device, has small driving power and reduced saturation voltage, and is very suitable for application in high-voltage and high-frequency environments. The IGBT module is a modularized semiconductor product formed by bridging and packaging an IGBT chip and an FWD chip through a specific circuit, can be directly applied to power electronic equipment such as a frequency converter, a UPS uninterrupted power supply and the like, and has wide application in the fields of rail transit, smart grids, automobiles, new energy and the like.
The pin process is a key step in the preparation of the IGBT module. In actual production, the pin inserting process is usually completed in a semi-automatic mode, and a semi-automatic pin inserting machine is required to be matched for pin inserting manually, and the process has the following problems: firstly, the contact pin speed is low, and the production efficiency is seriously affected; secondly, the jig is frequently moved up and down manually, so that the labor intensity is high; thirdly, after blanking detection, the blanking of good products and NG products needs to be manually sorted, and the materials are easy to mix; fourth, the workload is large, the equipment configuration personnel are more, and the cost is high. At present, a process method capable of improving the efficiency of the pin is urgently needed.
Disclosure of Invention
The invention aims to solve the problems in the prior art and provide an automatic pin inserting machine capable of improving pin inserting efficiency and reducing process cost.
The invention is realized by the following technical scheme:
an IGBT pin machine comprising:
the feeding assembly comprises a feeding lower layer conveying device, a feeding lifting device, a feeding tray pulling assembly, a feeding lifting transfer assembly and a feeding upper layer conveying device;
the tray conveying assembly is used for tray circulation;
the blanking grabbing assembly is used for grabbing the jig from the feeding position of the tray conveying assembly and then placing the jig on the jig carrier, grabbing the contact pin OK jig from the jig carrier after the contact pin is completed and then placing the contact pin OK jig on the tray at the feeding position of the tray conveying assembly, and placing the contact pin NG jig on the NG buffer conveying assembly;
the Pin assembly comprises a vibration disc assembly, a Pin turntable assembly, a Pin length and position detection assembly, a jig carrier, a Pin Kong Paizhao positioning assembly and a NG Pin collection box; the scattered needles are placed on the vibration disc assembly, the Pin needle rotary table assembly takes a material clamp to clamp the Pin needles and then flows to the needle length and position detection assembly, the OK Pin needle flow is detected to flow to the Pin needle station for Pin insertion, and the NG Pin needle flow is detected to flow to the NG needle collecting station;
the blanking assembly comprises a blanking lifting transfer assembly, a blanking tray pushing assembly, a blanking lifting assembly, a blanking upper conveying assembly and a blanking lower conveying assembly;
and, NG the buffer delivery component.
Further, the Pin assembly includes at least two vibration disk assemblies, at least two Pin turret assemblies, at least two Pin length and position detection assemblies, at least two Pin Kong Paizhao positioning assemblies, and at least two NG Pin collection boxes symmetrically disposed.
Further, the feeding lower conveying device comprises a conveying line, and at least 3 lifting baskets can be accommodated on the conveying line;
the feeding lifting device comprises a transition conveying part, a lifting servo and a stop lever opening and closing mechanism, the lifting basket flows to the transition conveying part through the feeding lower layer conveying device, and after positioning is completed, the stop lever opening and closing mechanism opens a stop lever of the lifting basket;
the feeding tray pulling-out assembly comprises a pulling-out servo and a pulling-out clamping jaw, wherein the pulling-out clamping jaw clamps a tray in the lifting basket, and pulls the tray out of the lifting basket of the transition conveying component to the feeding lifting transfer assembly;
the feeding lifting transfer assembly comprises a clamping cylinder and a lifting cylinder, wherein the clamping cylinder stretches out to clamp the tray, and the lifting cylinder retracts to place the tray on a tray conveying line;
the feeding upper layer conveying device is positioned on the upper layer of the feeding lower layer conveying device, and the empty basket after the tray is taken out flows to the feeding upper layer conveying device to wait for discharging.
Further, the tray conveying assembly comprises a tray positioning assembly and a tray conveying line.
Further, unloading snatchs subassembly and includes robot and clamping jaw, and the clamping jaw is used for snatching the tool.
Further, the contact Pin assembly comprises at least two vibration disc assemblies, each vibration disc assembly comprises a vibration disc and a blanking module, the scattered needles are placed on the vibration disc, and the blanking module alternately and continuously discharges Pin needles.
Further, the pin turntable assembly comprises a lifting cylinder, pin clamping claws and a DD motor, the pin turntable is provided with four sets of pin clamping claws, and the DD motor drives the pin clamping claws to circulate.
Further, the needle length and position detection assembly comprises a needle length detection assembly and a position detection assembly, wherein the needle length detection assembly is used for photographing and detecting the Pin needle length by a 2D camera, and the position detection assembly is used for photographing and detecting the Pin needle relative position by the 2D camera.
Further, the jig carrier comprises an X-axis transplanting module, a Y-axis transplanting module, a left positioning platform, a right positioning platform, a positioning block and a positioning cylinder, wherein the discharging grabbing component grabs the tray from the feeding position on the tray conveying line and is placed on the positioning platform, the positioning cylinder is used for completing the positioning of the tray, and the X-axis transplanting module and the Y-axis transplanting module drive the tray to circulate.
Further, the Pin Kong Paizhao positioning assembly comprises a 2D camera and a light source, and is used for shooting and positioning Pin pinholes and shooting and detecting Pin effect after Pin inserting.
Further, the blanking lifting transfer assembly comprises a lifting cylinder and a clamping cylinder, and is used for jacking the tray to be blanked, which is transferred to the tray conveying line in an upstream manner;
the blanking tray pushing-in assembly comprises a pushing-in servo and a pushing-in clamping claw, the pushing-in clamping claw clamps the tray, and the tray is pushed into a basket of the blanking lifter transition conveying component from the blanking lifting transfer assembly;
the blanking lifting assembly comprises a deflector rod opening mechanism, a lifting servo and a transition conveying component, the empty basket flows to the transition conveying component through the blanking upper conveying assembly, and after positioning is completed, the deflector rod opening mechanism opens a deflector rod barrier strip of the empty basket;
the blanking upper conveying assembly comprises a conveying line, and at least 2 lifting baskets can be accommodated on the conveying line;
the blanking lower conveying assembly comprises a conveying line, and the full lifting basket flows to the blanking lower conveying line through the transition conveying part of the blanking lifting assembly to wait for blanking.
Further, NG buffer transport subassembly is used for placing contact pin NG article, can remind the unloading after the full material.
Compared with the prior art, the invention has the beneficial effects that: firstly, automatic feeding, detecting material in place and blanking; secondly, automatically completing needle taking, needle length detection and needle point position detection; thirdly, automatically completing positioning, compaction and pin insertion of the jig; fourthly, automatically completing the feedback of the condition of the conveying and the pin inserting; fifthly, the automatic pin inserting device reduces labor, saves cost and greatly improves efficiency.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the pin machine provided by the invention;
fig. 2 is a schematic structural diagram of a feeding lower layer conveying device of the pin machine provided by the invention;
fig. 3 is a schematic structural diagram of a feeding lifting device of the pin machine provided by the invention;
fig. 4 is a schematic structural diagram of a feeding upper layer conveying device of the pin machine provided by the invention;
fig. 5 is a schematic structural view of a feeding tray pulling device of the pin machine provided by the invention;
fig. 6 is a schematic structural diagram of a feeding lifting transfer device of the pin machine provided by the invention;
fig. 7 is a schematic structural view of a tray conveying assembly of the pin machine provided by the invention;
fig. 8 is a schematic structural diagram of a blanking grabbing assembly of the pin machine provided by the invention;
FIG. 9 is a schematic diagram of a vibratory plate assembly of the pin machine provided by the present invention;
FIG. 10 is a schematic view of a pin turret assembly of a pin machine according to the present invention;
FIG. 11 is a schematic view of the structure of the pin length and position detection assembly of the pin machine provided by the present invention;
fig. 12 is a schematic structural diagram of a jig carrier of the pin machine provided by the invention;
fig. 13 is a schematic structural diagram of Pin Kong Paizhao positioning assembly of the Pin machine provided by the invention;
fig. 14 is a schematic structural view of an NG needle collecting box of the pin machine provided by the invention;
fig. 15 is a schematic structural diagram of a blanking lifting transfer assembly of the pin machine provided by the invention;
fig. 16 is a schematic structural view of a blanking tray pushing assembly of the pin machine provided by the invention;
FIG. 17 is a schematic structural view of a blanking lifting assembly of the pin machine provided by the invention;
FIG. 18 is a schematic diagram of a feeding upper layer conveying device of the pin machine according to the present invention;
fig. 19 is a schematic structural diagram of a blanking lower layer conveying device of the pin machine provided by the invention;
fig. 20 is a schematic structural diagram of an NG buffer transport assembly of the pin machine provided by the present invention.
Detailed Description
The invention is described in further detail below with reference to the attached drawing figures:
as shown in fig. 1, the IGBT pin machine includes a loading assembly, a tray conveying assembly 20, a blanking grasping assembly 30, a pin assembly, a blanking assembly, and an NG buffer conveying assembly 60, wherein,
the feeding assembly comprises a feeding lower layer conveying device 11, a feeding lifting device 12, a feeding tray pulling device 13, a feeding lifting transfer device 14 and a feeding upper layer conveying device 15;
a tray transport assembly 20 for transporting a tray 80;
the blanking grabbing component 30 is used for grabbing the jig from the feeding position of the tray conveying component and then placing the jig on the jig carrier, grabbing the contact pin OK jig from the jig carrier after the contact pin is completed and then placing the contact pin OK jig on the tray at the feeding position of the tray conveying component and placing the contact pin NG jig on the NG buffer conveying component;
a pin assembly including a vibration disk assembly 41, 41', a pin turntable assembly 42, 42', a pin length and position detection assembly 43, 43', a jig carrier 44, a pin Kong Paizhao positioning assembly 45, 45', and a NG pin collection box 46, 46'; wherein, scattered needles are placed in the vibration disc assemblies 41 and 41', the Pin rotary table assemblies 42 and 42' take clips to take pins and then flow to the needle length and position detection assemblies 43 and 43', the OK Pin flow is detected to flow to a Pin inserting station for Pin insertion, and the NG Pin flow is detected to flow to a NG Pin collecting station;
the blanking assembly comprises a blanking lifting transfer device 51, a blanking tray pushing device 52, a blanking lifting device 53, a blanking upper layer conveying device 54 and a blanking lower layer conveying device 55.
Wherein the Pin assembly comprises at least two vibration disk assemblies 41, 41', pin turntable assemblies 42, 42', pin length and position detection assemblies 43, 43', pin Kong Paizhao positioning assemblies 45, 45', and NG Pin collection boxes 46, 46' which are symmetrically arranged and are identical in structure.
As shown in fig. 2 to 6, the feeding and lower conveying device 11 comprises a conveying line 111, wherein at least 3 lifting baskets 70 can be accommodated on the conveying line 111; the feeding lifting device 12 comprises a transition conveying part 121, a lifting servo 122 and a stop lever opening and closing mechanism 123, the lifting basket 70 flows to the transition conveying part 121 through the feeding lower layer conveying device 11, and after positioning is completed, the stop lever opening and closing mechanism 123 opens a stop lever of the lifting basket 70; the feeding tray pulling-out device 13 comprises a pulling-out servo 131 and a pulling-out clamping jaw 132, wherein the pulling-out clamping jaw 132 clamps the tray in the basket 70, and pulls the tray out of the basket of the transition conveying part 121 onto the feeding lifting transfer device 14; the feeding lifting transfer device 14 comprises a clamping cylinder 141 and a lifting cylinder 142, wherein the clamping cylinder 141 stretches out to clamp the tray, and the lifting cylinder 142 retracts to place the tray on the tray conveying line 22; the feeding upper layer conveying device 15 is positioned on the upper layer of the feeding lower layer conveying device 11, and the empty basket flow after the tray is taken out is transferred to the feeding upper layer conveying device 15 to wait for discharging.
As shown in fig. 7, the tray conveying assembly 20 includes a tray positioning assembly 21 and a tray conveying line 22.
As shown in fig. 8, the blanking grabbing assembly 30 includes a robot 31 and a clamping jaw 32, and the clamping jaw 32 is used for grabbing a jig.
The specific feeding flow is as follows: the AGV places the basket on a conveying line, the basket is placed in a buffer position along with the conveying line, the AVG continuously discharges materials, the basket moves along with the conveying line to finish the continuous placement of 3 baskets, the first basket is conveyed to a tail end blocking position through the conveying line, the second basket stays in a middle blocking station, and the third basket stays in a feeding position; the blocking station is opened, the first basket flows to a middle-rotating conveying blocking station of the feeding lifting device, the positioning clamping mechanism clamps the basket, the stop lever opening and closing mechanism is pressed down, and the servo motor drives the deflector rod to open a discharge side stop bar of the basket; the feeding tray pulling servo pulls the jig tray out of the basket, the jig tray flows to the feeding lifting transfer assembly through the feeding transfer assembly and finally descends to the tray conveying line, and meanwhile, the empty basket flows to the feeding upper conveying assembly to wait for discharging; the jig tray is conveyed to the material taking station along with the conveying line and is positioned, the discharging grabbing assembly grabs jigs sequentially, the jigs are respectively placed into the jig positioning mechanisms at the left side and the right side, the positioned jigs are conveyed to the Pin Kong Paizhao station along with the jig carrying platform to carry out 2D camera photographing on the Pin hole sites of the jigs, and then the jigs are conveyed to the Pin inserting station along with the jig carrying platform to wait.
Next, the Pin assembly comprises at least two vibration disc assemblies 41, 41', as shown in fig. 9, the vibration disc assembly 41 comprises a vibration disc 411 and a blanking module 412, the scattered pins are placed on the vibration disc 411, and the blanking module 412 alternately and continuously discharges Pin pins.
As shown in fig. 10, the Pin turntable assembly 42 includes a lifting cylinder 421, a Pin clamping jaw 422, and a DD motor 423, where the Pin turntable is provided with four sets of Pin clamping jaws 422, the DD motor 423 drives the Pin clamping jaws 422 to circulate, the DD motor 423 drives the Pin clamping jaws 422 to the feeding position of the vibration disk 41, the Pin clamping jaws 422 descend to pick up Pin needles, then retract, the Pin needles rotate with the DD motor 423 to a detection position to perform Pin needle length and position detection, the Pin needles can rotate with the DD motor 423 to a Pin station, the Pin needles are inserted into a jig by matching with a jig carrier, and the Pin needles can also rotate with the DD motor 423 to a NG Pin needle collection position, if NG Pin needles are lost into the NG Pin needle collection boxes 46 and 46'.
As shown in fig. 11, the needle length and position detecting unit 43 includes a needle length detecting unit 432 and a position detecting unit 432, the needle length detecting unit 431 detecting the Pin needle length by photographing with a 2D camera, and the position detecting unit 432 detecting the Pin needle relative position by photographing with the 2D camera.
As shown in fig. 12, the jig carrier 44 includes an X-axis transplanting module 441, a Y-axis transplanting module 442, a left positioning platform 443, a right positioning platform 444, a positioning block 445 and a positioning cylinder 446, the blanking grabbing component 30 grabs the tray 80 from the loading position on the tray conveying line 22, and places the tray 80 on the positioning platforms 443, 444, the positioning cylinder 446 completes the positioning of the tray 80, the X-axis transplanting module 441 and the Y-axis transplanting module 442 drive the tray 80 to flow and rotate, drive the tray 80 to a Pin Kong Paizhao station, after the Pin hole is photographed, the Pin hole is moved to a Pin Kong Paizhao station, pin detection is performed, after detection is completed, the Pin hole is moved to the blanking position, and the jig is waited for loading and unloading.
As shown in fig. 13, the Pin Kong Paizhao positioning assembly 45 includes a 2D camera 451 and a light source 452 for photo positioning the Pin needle hole and photo detection of the Pin needle effect after the Pin needle is inserted.
The specific pin inserting process comprises the following steps: the scattered needles are placed into a vibration disc assembly according to a specified quantity, the vibration disc assembly is subjected to discharging by a direct vibration mechanism, and the Pin needles are alternately and continuously discharged in the middle of the direct vibration mechanism by a cutting mechanism; the Pin turntable material taking clamping jaw descends, clamps and lifts a Pin of the material cutting mechanism, the Pin rotates to a Pin detection station along with the Pin turntable flow, the Pin length and the Pin tip position are detected, if a NG Pin appears, the Pin rotates to a NG Pin collection station along with the Pin turntable flow, the NG Pin is detected to be lost to a NG collection box, if an OK Pin appears, the OK Pin rotates to the Pin collection station along with the Pin turntable flow; OK Pin inserts the tool in proper order, and the tool moves to Pin Kong Paizhao station along with the tool carrier after full needle and carries out 2D camera and take a photograph the detection, confirms the contact Pin effect.
As shown in fig. 15, the blanking lifting transfer assembly 51 includes a lifting cylinder 511 and a clamping cylinder 512, which are used for lifting up the tray 80 to be blanked, which is transferred to the tray transfer line 22;
as shown in fig. 16, the blanking tray pushing assembly 52 includes a pushing servo 521 and a pushing claw 522, the pushing claw 522 clamps the tray 80, and pushes the tray 80 from the blanking lifting relay assembly 51 into the basket of the blanking lifter transition conveying member;
as shown in fig. 17, the blanking lifting assembly 53 includes a shifter opening mechanism 531, a lifting servo 532, and a transition conveying component 533, the empty basket flows to the transition conveying component 533 through the blanking upper conveying assembly, and after positioning is completed, the shifter opening mechanism 531 opens a shifter bar of the empty basket;
as shown in fig. 18, the blanking upper conveyor 54 includes a conveyor line 541 capable of accommodating at least 2 baskets;
as shown in fig. 19, the lower-layer feeding device comprises a feeding line 551, and the full basket flows to the lower-layer feeding line through the transition feeding part of the lower-layer feeding lifting assembly to wait for feeding.
As shown in fig. 20, the NG buffer transport assembly 60 is configured to place a pin NG, and can remind the user of blanking after the pin NG is full.
The specific blanking process is as follows: the blanking grabbing component places the contact pin OK jig in a tray, and places the contact pin NG jig on the NG buffer conveying component; the contact pin OK jig is transferred to the unloading lifting transfer assembly along with the pallet through the conveying line flow, the unloading pallet pushing servo pushes the pallet with the contact pin OK into an empty basket which is fed to the unloading lifting machine through the unloading upper conveying assembly, the basket is transferred to the unloading lower conveying assembly after being full of materials, and the AGV waits for unloading.
The IGBT pin inserting machine is utilized to carry out the pin inserting process, and the beneficial effects can be realized: 1. automatically finishing feeding, detecting the feeding position and cutting; 2. automatically completing needle taking, needle length detection and needle point position detection; 3. automatically completing positioning, compaction and contact pin of the jig; 4. automatically completing the feedback of the condition of the conveying and the inserting needle; fifthly, the automatic pin inserting device reduces labor, saves cost and greatly improves efficiency.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "connected," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In the description of the present invention, unless otherwise indicated, the terms "upper," "lower," "left," "right," "inner," "outer," and the like are used for convenience in describing the present invention and simplifying the description based on the orientation or positional relationship shown in the drawings, and do not denote or imply that the devices or elements in question must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Finally, it should be noted that the above-mentioned technical solution is only one embodiment of the present invention, and various modifications and variations can be easily made by those skilled in the art based on the application methods and principles disclosed in the present invention, and are not limited to the methods described in the above-mentioned specific embodiments of the present invention, therefore, the foregoing description is only preferred, and not meant to be limiting.
Claims (9)
1. An IGBT pin machine comprising:
the feeding assembly comprises a feeding lower layer conveying device, a feeding lifting device, a feeding tray pulling assembly, a feeding lifting transfer assembly and a feeding upper layer conveying device;
the tray conveying assembly is used for tray circulation;
the blanking grabbing assembly is used for grabbing the jig from the feeding position of the tray conveying assembly and then placing the jig on the jig carrier, grabbing the contact pin OK jig from the jig carrier after the contact pin is completed and then placing the contact pin OK jig on the tray at the feeding position of the tray conveying assembly, and placing the contact pin NG jig on the NG buffer conveying assembly;
the Pin assembly comprises a vibration disc assembly, a Pin turntable assembly, a Pin length and position detection assembly, a jig carrier, a Pin Kong Paizhao positioning assembly and a NG Pin collection box; the scattered needles are placed on the vibration disc assembly, the Pin needle rotary table assembly takes a material clamp to clamp the Pin needles and then flows to the needle length and position detection assembly, the OK Pin needle flow is detected to flow to the Pin needle station for Pin insertion, and the NG Pin needle flow is detected to flow to the NG needle collecting station;
the blanking assembly comprises a blanking lifting transfer assembly, a blanking tray pushing assembly, a blanking lifting assembly, a blanking upper conveying assembly and a blanking lower conveying assembly;
and, an NG buffer delivery component;
the feeding lower conveying device comprises a conveying line, and at least 3 lifting baskets can be accommodated on the conveying line;
the feeding lifting device comprises a transition conveying part, a lifting servo and a stop lever opening and closing mechanism, the lifting basket flows to the transition conveying part through the feeding lower layer conveying device, and after positioning is completed, the stop lever opening and closing mechanism opens a stop lever of the lifting basket; the feeding tray pulling-out assembly comprises a pulling-out servo and a pulling-out clamping jaw, wherein the pulling-out clamping jaw clamps a tray in the lifting basket, and pulls the tray out of the lifting basket of the transition conveying component to the feeding lifting transfer assembly;
the feeding lifting transfer assembly comprises a clamping cylinder and a lifting cylinder, wherein the clamping cylinder stretches out to clamp the tray, and the lifting cylinder retracts to place the tray on a tray conveying line;
the feeding upper layer conveying device is positioned on the upper layer of the feeding lower layer conveying device, and the empty basket after the tray is taken out flows to the feeding upper layer conveying device to wait for discharging.
2. The IGBT pin machine of claim 1, wherein: the contact Pin assembly comprises at least two vibration disc assemblies, at least two contact Pin turntable assemblies, at least two Pin length and position detection assemblies, at least two Pin Kong Paizhao positioning assemblies and at least two NG Pin collection boxes which are symmetrically arranged.
3. The IGBT pin machine of claim 1, wherein: the tray conveying assembly comprises a tray positioning assembly and a tray conveying line.
4. The IGBT pin machine of claim 1, wherein: unloading snatchs subassembly and includes robot and clamping jaw, and the clamping jaw is used for snatching the tool.
5. The IGBT pin machine of claim 1, wherein: the Pin inserting assembly comprises a vibration disc assembly, the vibration disc assembly comprises a vibration disc and a blanking module, the scattered pins are placed on the vibration disc, and the blanking module alternately and continuously discharges Pin pins;
the contact pin turntable assembly comprises a lifting cylinder, contact pin clamping jaws and a DD motor, wherein the contact pin turntable is provided with four sets of contact pin clamping jaws, and the DD motor drives the contact pin clamping jaws to circulate.
6. The IGBT pin machine of claim 1, wherein: the needle length and position detection assembly comprises a needle length detection assembly and a position detection assembly, wherein the needle length detection assembly is used for detecting the Pin needle length by photographing through a 2D camera, and the position detection assembly is used for detecting the Pin needle relative position by photographing through the 2D camera.
7. The IGBT pin machine of claim 1, wherein: the jig carrier comprises an X-axis transplanting module, a Y-axis transplanting module, a left positioning platform, a right positioning platform, a positioning block and a positioning cylinder, wherein the discharging grabbing component grabs the tray from the feeding position on the tray conveying component, the tray is placed on the positioning platform, the positioning cylinder is used for positioning the tray, and the X-axis transplanting module and the Y-axis transplanting module drive the tray to circulate.
8. The IGBT pin machine of claim 1, wherein: the Pin Kong Paizhao positioning assembly comprises a 2D camera and a light source and is used for shooting and positioning Pin pinholes and shooting and detecting Pin effect after Pin is inserted.
9. The IGBT pin machine of claim 1, wherein: the blanking lifting transfer assembly comprises a lifting cylinder and a clamping cylinder and is used for jacking the tray to be blanked, which is transferred onto the tray conveying line in an upstream mode;
the blanking tray pushing-in assembly comprises a pushing-in servo and a pushing-in clamping claw, the pushing-in clamping claw clamps the tray, and the tray is pushed into a basket of the blanking lifter transition conveying component from the blanking lifting transfer assembly;
the blanking lifting assembly comprises a deflector rod opening mechanism, a lifting servo and a transition conveying component, the empty basket flows to the transition conveying component through the blanking upper conveying assembly, and after positioning is completed, the deflector rod opening mechanism opens a deflector rod barrier strip of the empty basket; the blanking upper conveying assembly comprises a conveying line, and at least 2 lifting baskets can be accommodated on the conveying line;
the blanking lower conveying assembly comprises a conveying line, and the full lifting basket flows to the blanking lower conveying line through the transition conveying part of the blanking lifting assembly to wait for blanking.
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| CN116313897A (en) | 2023-06-23 |
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