Manipulator grabbing detection assembly for silicon carbide power module

Abstract

The utility model discloses a manipulator grabbing detection assembly for a silicon carbide power module, which is characterized in that when the silicon carbide power module is clamped, the upper surface of the silicon carbide power module is utilized to abut against two L-shaped plates which are positioned on microswitches of the silicon carbide power module, so that the placement depth of the silicon carbide power module is in place; then a second motor is used for driving a bidirectional screw rod to drive a clamping plate to move to clamp the silicon carbide power module, the side wall of the opposite position of the silicon carbide power module is used for touching the other microswitch of the two L-shaped plates, when the two microswitches on the two L-shaped plates are triggered, it is indicated that the silicon carbide power module is clamped in place, and then the silicon carbide power module is clamped in place. The position of the silicon carbide power module can be transferred, the clamping position and depth of the silicon carbide power module are detected through the two microswitches, the phenomena that grabbing is not in place and the grabbing and clamping area is small are effectively reduced, the product falling probability caused by the small clamping area is reduced, and the grabbing efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the field of silicon carbide power module production equipment, in particular to a manipulator grasping and detecting assembly for silicon carbide power modules. Background Art

[0002] Silicon Carbide Power Module is a power electronic module based on silicon carbide (SiC) material. It is composed of transistors, diodes and other electronic components made of silicon carbide semiconductor materials, and is used in high-power, high-frequency and high-temperature applications. When producing silicon carbide power modules, a robot is required to grab the silicon carbide power module for transfer so that the silicon carbide power module can be moved to the processing platform.

[0003] There are many kinds of robots on the market. In the production of silicon carbide power modules, the gripper of a robot arm is usually used for clamping and grasping. The gripper of the robot usually detects whether it has grasped the product, and does not perform limit detection on the position of the product grasping. The gripper may not grasp the product in place or have a small gripping area. When the gripper moves, the product may fall due to the small gripping area, affecting the grasping efficiency. Therefore, we need to propose a robot gripping and detection assembly for silicon carbide power modules to solve the above problems. Utility Model Content

[0004] The purpose of the utility model is to provide a manipulator grasping and detecting assembly for silicon carbide power modules, which detects the clamping position and depth of the silicon carbide power module through two micro switches, effectively reduces the phenomenon of inadequate grasping and small grasping and clamping area, reduces the probability of product falling due to small clamping area, improves grasping efficiency, and solves the problems raised in the background technology.

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a manipulator grasping and detecting assembly for a silicon carbide power module, comprising a manipulator body, a connecting plate is installed at the upper end of the manipulator body, and a reversible gripping assembly is installed at one end of the connecting plate;

[0006] The clamping assembly includes two clamping plates and a U-shaped frame, a bidirectional screw is rotatably installed on the inner side of the U-shaped frame, a second motor is installed on one end of the bidirectional screw, both ends of the bidirectional screw are threadedly connected with moving blocks, and one end of the moving block is slidably connected to the U-shaped frame, the two clamping plates are respectively detachably fixed to the other end of the moving block, and a detection mechanism for detecting whether the silicon carbide power module is clamped in place is installed on the opposite side of the two moving blocks, and a notch for adjusting the installation position of the detection mechanism is opened in the middle of the opposite side of the two clamping plates;

[0007] The detection mechanism includes a support block and an L-shaped plate, the support block is fixed on the side wall of the moving block, a T-shaped rod is slidably connected to the support block, one end of the T-shaped rod passes through the support block and is fixed to the outer side wall of the L-shaped plate, and the T-shaped rod is connected to the moving block through a positioning pin, and two micro switches are installed on the inner side wall of the L-shaped plate, and the installation directions of the two micro switches are vertical.

[0008] Preferably, the micro switch includes a shell, a contact and a touch switch component, the touch switch component is installed inside the shell, the contact is slidably inserted on one side of the shell, and a second spring is installed between the contact and the touch switch component, one end of the contact is provided with a flange for installing the second spring, a first spring is installed inside the contact, one end of the first spring is fixed with a resistance block, the first spring and the second spring have the same stiffness, and the resistance block touches the contact of the touch switch component when the second spring is compressed.

[0009] Preferably, a screw hole for a pin to be fixed and screwed is provided on the side wall of one end of the moving block away from the bidirectional screw rod, and a plurality of locating holes for the locating pin to pass through are equidistantly provided on the T-shaped rod, and a scale line is provided at each of the locating holes.

[0010] Preferably, silicone gaskets are fixed on opposite sides of the two clamping plates, one end of the L-shaped plate close to the support block extends out of the recess, and the other end of the contact located in the recess extends to the outside of the recess.

[0011] Preferably, an insert block is integrally formed on a side wall at one end of the clamping plate, an insert hole is formed at one end of the movable block away from the bidirectional screw, and the insert block is fixed inside the insert hole by a screw.

[0012] Preferably, a protrusion is fixed to one end of the moving block close to the bidirectional screw, and a sliding groove for the protrusions on the two moving blocks to slide is formed on the inner wall of the U-shaped frame.

[0013] Preferably, a flip block is fixed to the outer wall in the middle of the U-shaped frame, connecting shafts are fixed to both ends of the flip block, one end of the connecting plate is provided with a notch for the flip block to be embedded in, and one end of the connecting shaft is rotatably connected to the side wall of the notch, wherein one end of the connecting shaft passes through the side wall of the notch and a first motor is installed.

[0014] Compared with the prior art, the beneficial effects of the utility model are:

[0015] 1. The utility model adopts the arrangement of two detection mechanisms and a clamping plate. When clamping the silicon carbide power module, the clamping plate is placed on the opposite sides of the silicon carbide power module through the main body of the manipulator, and the upper surface of the silicon carbide power module is used to contact the micro switches located above the silicon carbide power module on the two L-shaped plates, indicating that the silicon carbide power module is placed at a proper depth. Then, the second motor is used to drive the bidirectional screw to move the clamping plate to clamp the silicon carbide power module, and the side wall of the silicon carbide power module at a relative position is used to touch another micro switch of the two L-shaped plates. When the two micro switches on the two L-shaped plates are triggered, it indicates that the silicon carbide power module is clamped in place, and the silicon carbide power module can be transferred. The clamping position and depth of the silicon carbide power module are detected by the two micro switches, which effectively reduces the phenomenon of inadequate grasping and small grasping and clamping area, reduces the probability of product falling due to small clamping area, and improves the grasping efficiency.

[0016] 2. The utility model makes it easy to adjust the gripping direction of the gripping assembly according to production requirements during use by making the gripping assembly and the connecting plate reversible, thereby improving the applicable scope of the manipulator gripping. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the structure of the utility model;

[0018] Figure 2 This is a schematic diagram of the exploded structure of the clamping and grabbing assembly of the utility model;

[0019] Figure 3 This is a schematic diagram of the detection mechanism structure of the utility model;

[0020] Figure 4 This is a schematic diagram of the cross-sectional structure of the micro switch of the utility model;

[0021] Figure 5 It is a schematic diagram of the structure of the utility model after flipping.

[0022] In the figure: 1. robot body; 2. connecting plate; 3. flip block; 4. first motor; 5. U-shaped frame; 6. second motor; 7. clamping plate; 8. detection mechanism; 81. T-shaped rod; 82. L-shaped plate; 83. micro switch; 831. shell; 832. touch switch member; 833. contact; 834. resistance block; 835. first spring; 836. flange; 837. second spring; 84. support block; 85. positioning hole; 86. positioning pin; 9. bidirectional screw; 10. moving block; 11. protrusion; 12. slide groove; 13. notch; 14. silicone gasket; 15. plug block; 16. socket. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0024] See also Figure 1-5 The utility model provides a technical solution: a manipulator grasping and detecting assembly for a silicon carbide power module, comprising a manipulator body 1, a connecting plate 2 is installed at the upper end of the manipulator body 1, and a reversible gripping assembly is installed at one end of the connecting plate 2;

[0025] The clamping assembly includes two clamping plates 7 and a U-shaped frame 5, a bidirectional screw 9 is rotatably installed on the inner side of the U-shaped frame 5, one end of the bidirectional screw 9 is installed with a second motor 6, both ends of the bidirectional screw 9 are threadedly connected with moving blocks 10, and one end of the moving block 10 is slidably connected to the U-shaped frame 5, the two clamping plates 7 are detachably fixed to the other end of the moving block 10, and the two moving blocks 10 are respectively installed with a detection mechanism 8 for detecting whether the silicon carbide power module is clamped in place on the opposite side of each clamping plate 7, and a recess 13 for adjusting the installation position of the detection mechanism 8 is provided in the middle of the opposite side of the two clamping plates 7; the bidirectional screw 9 is driven to rotate by the second motor 6, so that the bidirectional screw 9 drives the two moving blocks 10 to move relative to each other by utilizing the threaded connection with the moving block 10 and the sliding of the U-shaped frame 5 of the moving block 10, so as to drive the clamping plate 7 to move relative to each other through the moving block 10, thereby realizing the clamping of the silicon carbide power module.

[0026] The detection mechanism 8 includes a support block 84 and an L-shaped plate 82. The support block 84 is fixed on the side wall of the moving block 10. A T-shaped rod 81 is slidably connected to the support block 84. One end of the T-shaped rod 81 passes through the support block 84 and is fixed to the outer wall of the L-shaped plate 82. The T-shaped rod 81 is connected to the moving block 10 through a positioning pin 86. Two micro switches 83 are installed on the inner wall of the L-shaped plate 82, and the installation directions of the two micro switches 83 are vertical.

[0027] When clamping the silicon carbide power module, the clamping plate 7 is placed on the opposite sides of the silicon carbide power module through the manipulator body 1, and the upper surface of the silicon carbide power module is used to contact the micro switches 83 located above the silicon carbide power module on the two L-shaped plates 82, indicating that the silicon carbide power module is placed at the right depth, and then the second motor 6 is used to drive the bidirectional screw 9 to drive the clamping plate 7 to move to clamp the silicon carbide power module, and the side walls of the silicon carbide power module at the relative position are used to touch the other micro switches 83 of the two L-shaped plates 82. When the two micro switches 83 on the two L-shaped plates 82 are triggered, it means that the silicon carbide power module is clamped in place, and the silicon carbide power module can be transferred. The clamping position and depth of the silicon carbide power module are detected by the two micro switches 83, which effectively reduces the phenomenon of inadequate grasping and small grasping and clamping area, reduces the probability of product falling due to small clamping area, and improves the grasping efficiency.

[0028] The micro switch 83 includes a housing 831, a contact 833 and a touch switch member 832. The touch switch member 832 is installed inside the housing 831. The contact 833 is slidably inserted on one side of the housing 831. A second spring 837 is installed between the contact 833 and the touch switch member 832. One end of the contact 833 is provided with a flange 836 for installing the second spring 837. A first spring 835 is installed inside the contact 833. One end of the first spring 835 is fixed with a resisting block 834. The first spring 835 and the second spring 837 have the same stiffness. The resisting block 834 contacts the contact when the second spring 837 is compressed. The contacts of the touch switch component 832 touch each other. When the side wall of the silicon carbide power module abuts against the contact 833, the contact 833 compresses the second spring 837, so that the contact 833 drives the abutting block 834 to move and contact the contacts of the touch switch component 832, thereby triggering the touch switch component 832. The micro switch 83 needs to be used in conjunction with the control system of the manipulator. The trigger signal of the touch switch component 832 is transmitted to the control system, and the control system is used to control the clamping assembly to perform the clamping work. The contacts of the touch switch component 832 are protected by the first spring 835 to prevent the contacts of the touch switch component 832 from being damaged by the stress of the abutting block 834.

[0029] A screw hole for a pin to be fixed and screwed is provided on the side wall of the end of the moving block 10 away from the bidirectional screw rod 9, and a plurality of positioning holes 85 for the positioning pin 86 to pass through are equidistantly provided on the T-shaped rod 81, and each positioning hole 85 is provided with a scale line. The positioning pin 86 is removed and the T-shaped rod 81 is manually pulled to adjust the position of the L-shaped plate 82 in the recess 13, and then the positioning pin 86 is used to fix the moved position of the L-shaped plate 82, so that the L-shaped plate 82 can be suitable for clamping silicon carbide power modules of different thicknesses.

[0030] Silicone gaskets 14 are fixed on opposite sides of the two clamps 7, one end of the L-shaped plate 82 close to the support block 84 extends out of the recess 13, and the other end of the contact 833 located in the recess 13 extends to the outside of the recess 13, so as to facilitate the use of the side wall of the silicon carbide power module to contact the micro switch 83.

[0031] An insert block 15 is integrally formed on the side wall at one end of the splint 7, a plug hole 16 is formed at the end of the movable block 10 away from the bidirectional screw 9, and the insert block 15 is fixed inside the plug hole 16 by screws, so that the splint 7 is detachable, and different splints 7 containing notches 13 can be replaced according to different silicon carbide power module production requirements.

[0032] A protrusion 11 is fixed to one end of the moving block 10 close to the bidirectional screw 9, and a sliding groove 12 is opened on the inner wall of the U-shaped frame 5 for the protrusions 11 on the two moving blocks 10 to slide, so as to limit the moving block 10 when the bidirectional screw 9 rotates, so that the moving block 10 can move horizontally on the bidirectional screw 9.

[0033] A flip block 3 is fixed to the outer wall in the middle of the U-shaped frame 5, and connecting shafts are fixed at both ends of the flip block 3. A notch is opened at one end of the connecting plate 2 for the flip block 3 to be embedded, and one end of the connecting shaft is rotatably connected to the side wall of the notch. A first motor 4 is installed at one end of one of the connecting shafts through the side wall of the notch. The connecting shaft is driven to rotate by the first motor 4, so that the connecting shaft drives the flip block 3 to flip in the notch, and the flip block 3 drives the U-shaped frame 5, the detection mechanism 8 and the clamping plate 7 to flip, which is convenient for adjusting the clamping direction of the clamping assembly according to production needs during use, thereby improving the applicable scope of the robot gripping.

[0034] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A manipulator grasping and detecting assembly for a silicon carbide power module, comprising a manipulator body (1), characterized in that: A connecting plate (2) is installed at the upper end of the manipulator body (1), and a reversible gripping assembly is installed at one end of the connecting plate (2); The clamping assembly comprises two clamping plates (7) and a U-shaped frame (5), a bidirectional screw (9) is rotatably mounted on the inner side of the U-shaped frame (5), a second motor (6) is mounted on one end of the bidirectional screw (9), both ends of the bidirectional screw (9) are threadedly connected with a moving block (10), and one end of the moving block (10) is slidably connected to the U-shaped frame (5), the two clamping plates (7) are detachably fixed to the other end of the moving block (10), the two moving blocks (10) are each mounted on one opposite side with a detection mechanism (8) for detecting whether the silicon carbide power module is clamped in place, and a notch (13) for adjusting the installation position of the detection mechanism (8) is provided in the middle of one opposite side of the two clamping plates (7); The detection mechanism (8) comprises a support block (84) and an L-shaped plate (82); the support block (84) is fixed on the side wall of the moving block (10); a T-shaped rod (81) is slidably connected to the support block (84); one end of the T-shaped rod (81) passes through the support block (84) and is fixed to the outer side wall of the L-shaped plate (82); and the T-shaped rod (81) is connected to the moving block (10) via a positioning pin (86); two micro switches (83) are installed on the inner side wall of the L-shaped plate (82); and the installation directions of the two micro switches (83) are perpendicular.

2. The manipulator grasping and detecting assembly for silicon carbide power module according to claim 1, characterized in that: The micro switch (83) comprises a housing (831), a contact (833) and a touch switch member (832); the touch switch member (832) is installed inside the housing (831); the contact (833) is slidably inserted on one side of the housing (831); a second spring (837) is installed between the contact (833) and the touch switch member (832); one end of the contact (833) is provided with a flange (836) for installing the second spring (837); a first spring (835) is installed inside the contact (833); a resisting block (834) is fixed to one end of the first spring (835); the first spring (835) and the second spring (837) have the same stiffness; the resisting block (834) contacts the contact point of the touch switch member (832) when the second spring (837) is compressed.

3. The manipulator grasping and detecting assembly for silicon carbide power module according to claim 2, characterized in that: A screw hole for pin-fixed screw connection is provided on the side wall of one end of the moving block (10) away from the bidirectional screw rod (9), and a plurality of positioning holes (85) for positioning pins (86) to pass through are equidistantly provided on the T-shaped rod (81), and each positioning hole (85) is provided with a scale mark.

4. The manipulator grasping and detecting assembly for silicon carbide power module according to claim 1, characterized in that: Silicone gaskets (14) are fixed on opposite sides of the two clamping plates (7); one end of the L-shaped plate (82) close to the support block (84) extends out of the recess (13); and the other end of the contact (833) located in the recess (13) extends to the outside of the recess (13).

5. The manipulator grasping and detecting assembly for silicon carbide power module according to claim 1, characterized in that: An insert block (15) is integrally formed on a side wall at one end of the clamping plate (7), an insert hole (16) is formed at one end of the moving block (10) away from the bidirectional screw rod (9), and the insert block (15) is fixed inside the insert hole (16) by means of screws.

6. The manipulator grasping and detecting assembly for silicon carbide power module according to claim 1, characterized in that: A protrusion (11) is fixed to one end of the moving block (10) close to the bidirectional screw (9), and a sliding groove (12) for the protrusions (11) on the two moving blocks (10) to slide is provided on the inner wall of the U-shaped frame (5).

7. The manipulator grasping and detecting assembly for silicon carbide power module according to claim 1, characterized in that: A flip block (3) is fixed to the outer wall of the middle part of the U-shaped frame (5), and connecting shafts are fixed to both ends of the flip block (3). A notch is provided at one end of the connecting plate (2) for the flip block (3) to be embedded, and one end of the connecting shaft is rotatably connected to the side wall of the notch, wherein one end of the connecting shaft passes through the side wall of the notch and is provided with a first motor (4).

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