An IGBT power module automatic glue filling line and method thereof

Abstract

The invention discloses an IGBT power module automatic glue filling line and method thereof, comprising an ion dust removal feeding mechanism, a glue filling and curing mechanism, an upper cover assembly mechanism, a product offline mechanism and a tray recovery mechanism; the ion dust removal feeding mechanism comprises a cleaning device, a transport shaft mechanism and a discharging belt, the cleaning device is connected to one end port of the discharging belt of the ion dust removal feeding mechanism and the transport shaft mechanism, the glue filling and curing mechanism is connected to the other end port of the discharging belt, the glue filling and curing mechanism is connected to the upper cover assembly mechanism, the other side of the upper cover assembly mechanism is connected to the product offline mechanism, and the tray recovery mechanism is connected to the product offline mechanism to the discharging belt of the ion dust removal feeding mechanism, so as to further integrate the original automatic process, ensure that the entire assembly line occupies less resources, has high work efficiency, low labor cost, has good detection and dust removal procedures, ensures the safety and quality of the finished products, reduces the product void rate, and maximizes the utilization of resources and materials.

Description

Technical Field

[0001] The invention relates to the field of glue potting of IGBT modules of power devices, and in particular to an automatic glue potting line and method for IGBT power modules. Background Art

[0002] IGBT modules have the advantages of high operating frequency and voltage drive of MOSFET and low conduction loss and high operating voltage of BJT. They are currently widely used in emerging industries such as new energy vehicles, rail transit, and smart grids. They are key components for achieving industrial automation and energy conservation and consumption reduction.

[0003] How to achieve insulation between chips, devices and bonding wires inside the power module is a key factor in ensuring the reliable operation of power devices. Aiming at the technical difficulties of long curing time and high void rate of chip module glue filling, an automated glue filling line is developed to ensure high-quality glue filling in complex positions such as chip pins, bottom of bonding wires and edge of shell, and reduce the void rate after curing. The existing IGBT module glue filling process line uses equipment to achieve semi-automatic inspection and packaging, but the flow between projects is manually operated, the flow speed is slow and the efficiency is low, the workers work long hours, and sometimes the glue filling or cooling time is difficult to control. At the same time, loading is the first step of the entire glue filling line. The module is easily infected by external dust and static electricity during transportation. The loading device of the existing technology is very simple and only serves to transport the module. It cannot ensure the safety and cleanliness of the module. There are great hidden dangers of accidents when processing later. The qualified rate of IGBT modules is low, and the pallet weight of IGBT modules is large. If they are not stacked in layers, they will be squeezed each other. The existing cooling equipment can only cool multiple pallets placed flat on a large scale. The working range of the cooling equipment is too large, resulting in high energy consumption. Some IGBT modules are easily affected by external forces during transportation, which can easily affect the pin position. Workers will inevitably miss some parts during operation and inspection. There are also a large number of empty pallets that cannot be recycled in time. Although it is semi-automatic, it requires a lot of manpower. Therefore, an automatic glue filling line and method for IGBT power module are proposed to solve the above technical problems, improve the efficiency of the glue filling line and the overall integration level, improve the space utilization rate and material utilization rate, and reduce the product void rate. Summary of the invention

[0004] The purpose of the present invention is to solve the above-mentioned technical problems and provide an IGBT power module automated glue filling line and method thereof. The present invention further integrates the original automated process to ensure that the entire assembly line occupies less resources, has high work efficiency, and has low labor costs. It has good detection and dust removal procedures, and the safety and quality of the finished products produced are guaranteed, the product void rate is reduced, and unqualified products are cached to facilitate resource recycling, thereby maximizing the utilization of resource materials.

[0005] The technical solution adopted by the present invention to solve the above-mentioned technical problems is: an automatic glue pouring line for IGBT power modules, comprising an ion dust removal feeding mechanism, a glue pouring and curing mechanism, an upper cover assembly mechanism, a product offline mechanism and a pallet recovery mechanism; the ion dust removal feeding mechanism comprises a cleaning device, a transport shaft mechanism and a discharge belt, the cleaning device is connected to one end port of the discharge belt of the ion dust removal feeding mechanism and the transport shaft mechanism, the glue pouring and curing mechanism is connected to the other end port of the discharge belt, the glue pouring and curing mechanism is connected to the upper cover assembly mechanism, the other side of the upper cover assembly mechanism is connected to the product offline mechanism, and the pallet recovery mechanism connects the product offline mechanism to the discharge belt of the ion dust removal feeding mechanism.

[0006] Preferably, the transport axis mechanism also includes a moving frame and a grabbing structure, which is installed on the moving frame to cooperate with the moving frame to realize the movement of the X and Z axes. The loading place of the ion dust removal feeding mechanism is a loading belt for transporting and loading materials. The loading belt is arranged behind the moving frame and the grabbing structure. A loading and dust removal robot is also equipped in the center of the ion dust removal feeding mechanism. The ion dust removal feeding mechanism is also provided with a dust removal area, which is arranged around the transport axis mechanism, and the dust removal area includes a tray outlet.

[0007] Preferably, the glue pouring and curing mechanism includes a glue pouring and filling mechanism and a cooling cache mechanism; the glue pouring and filling mechanism includes a glue pouring machine and a dryer, the glue pouring machine is connected to the discharge belt at the end of the ion dust removal feeding mechanism, and the dryer is connected to the glue pouring machine; the cooling cache mechanism includes a first cache box and a second cache box, the first cache box includes a vertical heat dissipation structure, a cooling fan and a vent, the second cache box includes a vertical storage structure, the dryer, the vertical heat dissipation structure and the vertical storage structure are connected by a conveyor belt, the conveyor belt passes through the vertical storage structure and is connected to the upper cover assembly mechanism, and the tops of the first cache box and the second cache box are both provided with a transmission structure and a heat dissipation hood.

[0008] Preferably, the upper cover assembling mechanism comprises an upper cover loading rack, an upper cover assembling station and an assembling robot, the upper cover assembling station comprises an exchange station, an inspection station, an upper cover station and a pressing station, the exchange station, the inspection station, the upper cover station and the pressing station are arranged at four positions of the wheel, and the station sequence is the exchange station, the inspection station, the upper cover station and the pressing station, the upper cover loading rack is arranged at the outside of the upper cover station, and a visual inspection module is arranged between the upper cover station and the upper cover loading rack; the assembling robot comprises a four-axis assembling robot and a six-axis assembling robot, the four-axis assembling robot is installed between the upper cover loading rack and the upper cover station, and the six-axis assembling robot is installed between the NG cache structure and the exchange station; the upper cover assembling mechanism also comprises an NG cache structure, and the NG cache structure is arranged at the outside of the exchange station.

[0009] Preferably, the product off-line mechanism includes a pallet transport mechanism and an off-line transport vehicle. The pallet transport mechanism includes a two-axis clamping platform and a clamping device. The clamping device is installed on the two-axis clamping platform. The two-axis clamping platform moves on the X-axis and the Z-axis. The two-axis clamping platform spans the entire product off-line mechanism on the X-axis. The clamping device is provided with a clamping cylinder and a clamping block. The off-line transport vehicle for placing empty pallets and the loading transport vehicle for empty pallets are arranged in front of the pallet transport mechanism for the pallet transport mechanism to call. The pallet transport mechanism and the upper cover assembly mechanism are connected to the transport pallet through a conveyor belt.

[0010] Preferably, the pallet recovery mechanism includes a recovery rack, a storage rack and a recovery belt, one end of the recovery belt is connected to the recovery rack, and the other end is connected to the storage rack; the storage rack includes an upper conveying port, a lower tray outlet and a storage structure, the tray outlet is connected to the middle of the storage structure, and the conveying port is connected to the top of the storage structure; the recovery rack includes an inlet, a vertical conveying platform and a conveying port, the vertical conveying platform transports the pallets entering the inlet to the conveying port, and the two ends of the recovery belt are connected to the conveying port of the recovery rack and the storage rack.

[0011] Preferably, the ion dust removal loading mechanism and the product unloading mechanism are both provided with a transport vehicle parking area and a transport vehicle fixing device, and the transport vehicle fixing device is installed in the transport vehicle parking area.

[0012] Preferably, the length of the recovery belt can be adjusted according to the length of the assembly line, and a plurality of support frames are provided below the recovery belt.

[0013] A working method of an IGBT power module automatic glue filling line specifically comprises the following steps:

[0014] Step 1: Push the transport trolley loaded with the IGBT module tray to the transport trolley parking area of ​​the ion dust removal feeding mechanism. The guide wheels in the transport trolley parking area guide the transport trolley to enter and fix the transport trolley through the transport trolley fixing device. The pallet on the transport trolley is transported to the bottom of the grabbing structure through the feeding belt. The mobile frame aligns the grabbing structure to the top of the pallet through the limit rod at the feeding belt. The grabbing structure moves down to the pallet through the cylinder and clamps the pallet to the dust removal area.

[0015] Step 2: The loading and dust removal robot clamps the IGBT module on the tray in the dust removal area and places it on the cleaning device. Several IGBT modules are placed on the cleaning device. After the cleaning device finishes cleaning the IGBT module, the loading and dust removal robot moves the cleaned IGBT module to the empty tray on the discharge belt, which is transported to the glue filling and curing mechanism step structure by the discharge belt. At the same time, the loading and dust removal robot transfers the newly placed IGBT module in the dust removal area to the cleaning device for dust removal. The empty tray with the IGBT module clamped by the loading and dust removal robot is output from the tray outlet;

[0016] Step 3: The IGBT module tray is transported by the discharge belt to the glue filling machine for glue filling. After the glue filling is completed, it is transferred to the drying machine for high-temperature curing of the glue. Then, the IGBT module with the glue is transported to the first cache box for cooling and heat dissipation. The vertical heat dissipation structure in the first cache box links the trays with the IGBT modules in layers through the two side support plates and the top transmission structure through the lifting hook. The cooling fan blows air to cool the tray on the vertical heat dissipation structure. The blown air rises due to the heat and passes through the vents on the opposite side of the cooling fan of the first cache box and the heat dissipation cover above.

[0017] Step 4: After being cooled by the fan in the first cache box, the pallets are transported to the second cache box. The pallets in the second cache box are stacked in layers through the linkage of the two side pallets and the top transmission structure. The pallets in the second cache box will not be immediately transported to the upper cover assembly mechanism. When needed, they will be opened and transported. The pallets will be stored in the second cache box for a long time, and the waste heat will be dissipated through the top heat dissipation cover.

[0018] Step 5: When the pallet in the second cache box is taken to the upper cover assembly mechanism, the pallet is transported by the conveyor belt to the rear side of the exchange station of the upper cover assembly mechanism, and the six-axis assembly robot near the exchange station clamps the IGBT module on the pallet to the exchange station. The flatness detection module under the exchange station detects the flatness of the IGBT module. After the detection, the upper cover assembly station rotates to rotate the IGBT module on the exchange station to the detection station. The six-axis assembly robot places the second IGBT module on the exchange station, and the first IGBT module completes the stitching and glue filling at the detection station. Inspection, rotate to the upper cover station, the upper cover is transported to the upper cover area by the upper cover loading rack, and is placed on the visual inspection module by a four-axis assembly robot to detect the upper cover position. After that, the four-axis assembly robot moves the upper cover to the IGBT module at the upper cover station, and then rotates to the pressing station. The servo motor and servo press at the pressing station press the upper cover and IGBT module according to the data of the internal pressure monitor and displacement monitor, and then rotates back to the exchange station. The six-axis assembly robot moves the IGBT module with the upper cover completed at the exchange station to the product offline mechanism for loading, and puts the unqualified products into the NG buffer structure;

[0019] Step 6: The conveyor belt passes through the middle of the product off-line mechanism. The two-axis clamping platform on the rear side of the conveyor line controls the clamping device to clamp the pallet loaded with IGBT modules on the conveyor belt and place it on the transport trolley in the transport vehicle parking area, and then put the empty pallet from the loading transport vehicle onto the conveyor belt to continue loading.

[0020] Preferably, steps 1 to 5 are performed while also including:

[0021] Step A: The pallet recovery mechanism delivers the empty pallet of the offline transport vehicle into the recovery rack through the pallet inlet, and the pallet is transported upward to the conveyor outlet by the vertical conveying platform inside the recovery rack to enter the recovery belt. The empty pallet is transported to the conveyor outlet on the upper side of the storage rack through the recovery belt. The pallet is stacked in layers through the storage structure and the linkage mechanism of the storage structure. When needed, the pallet is transported from the pallet outlet to the discharge belt for loading the cleaned IGBT modules on the discharge belt.

[0022] The present invention has the following beneficial effects:

[0023] The present invention further integrates the original automation process to ensure that the entire production line occupies less resources, has high work efficiency, low labor cost, has good detection and dust removal procedures, and the safety and quality of the finished products are guaranteed, the void rate of the products is reduced, and the unqualified products are cached to facilitate resource recycling and maximize the utilization of resource materials;

[0024] In the ion dust removal feeding mechanism, a feeding dust removal robot is used to clamp and place the IGBT module. The feeding dust removal robot can clamp at least 2 IGBT modules at a time, which improves efficiency and prevents time waste. The cleaning device includes at least two dust removal covers and loading trays corresponding to the number of dust removal covers. The loading tray adopts a bottom sliding structure. When receiving the IGBT module and when cleaning is completed, it slides to the feeding dust removal robot, and returns to the dust removal cover for cleaning and dust removal after receiving the IGBT module. The bottom of the loading tray is equipped with a slide rail, which makes sliding easier and saves effort. The transport shaft mechanism is composed of multiple rollers arranged horizontally, which are driven by belts and motors to rotate at a uniform speed to transport the pallet on the transport trolley to a position where the grabbing structure can grab it. The mechanisms cooperate closely. The discharge belt is the last step of this product, and other transmission mechanisms or storage mechanisms can be connected later.

[0025] The first cache box and the second cache box are both provided with a multi-layer structure, so that the pallets loaded with IGBT modules are stored vertically, which greatly reduces the horizontal storage area, and the tops of the first cache box and the second cache box are both capped, which can prevent vertical dust from falling onto the pallets and IGBT modules. The vertical heat dissipation structure and the vertical storage structure both include two mounting plates, and several layers of lifting hooks are placed on the mounting plates, and rollers are provided on the lifting hooks. The pallets enter the lifting hooks from the rollers, and the clips at the tail ends of the lifting hooks are fastened to fix the pallets. The lifting motor controls the vertical movement of the mounting plate, so that all pallets can enter each layer of the lifting hooks of the mounting plate in turn to achieve the purpose of vertical placement, which is convenient for storage and uniform cooling. When multiple rollers are provided, the pallets can be transported more smoothly and effectively to prevent the pallets from tilting;

[0026] The specific length of the recovery belt and the number of support frames can be flexibly increased or decreased according to the length of the specific step line, and the scope of application is wider;

[0027] The motor group in the storage structure and the pallet rack in the middle, the pallet rack includes a transmission chain and a mounting plate, the mounting plate is connected to the motor group for movement through the transmission chain, the transmission chain is composed of a plurality of chain links in series, the mounting plate is composed of a plurality of long gaskets arranged, the chain links of the transmission chain are respectively connected to the long gaskets of the mounting plate, the chain links and the long gaskets refine the structure and also make the entire storage structure more flexible, a pallet slot for placing the pallet is provided on the long gasket, the vertical conveying platform includes a lifting track and a clamping part, the vertical conveying platform is fixed to one side of the clamping part, and the other side of the clamping part is connected to the lifting track and is powered by a lifting motor to move up and down on the lifting track, a rolling belt and a rolling motor of the rolling belt are also provided on the vertical conveying platform for conveying and receiving pallets, the structure is reasonable and clear, the pallet transportation speed is fast and the transportation connection effect of each part is good. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a structural schematic diagram of the entire assembly line mechanism of the present invention;

[0029] Figure 2 It is a structural schematic diagram of the feeding and recovery parts of the ion dust removal feeding mechanism of the present invention;

[0030] Figure 3 It is a structural schematic diagram of the top of the second cache box of the entire assembly line mechanism of the present invention;

[0031] Figure 4 The entire assembly line mechanism of the present invention Figure 1 A schematic diagram of the structure of the vertical heat dissipation structure enlarged inside the A;

[0032] Figure 5 It is a structural schematic diagram of the vertical storage structure of the entire assembly line mechanism of the present invention;

[0033] Figure 6 The entire assembly line mechanism of the present invention Figure 1 An enlarged structural diagram of the upper cover assembly station at B;

[0034] Figure 7 It is a structural schematic diagram of a product unloading mechanism of the entire assembly line mechanism of the present invention;

[0035] Figure 8 It is a schematic diagram of the structure of the recovery frame of the entire assembly line mechanism of the present invention;

[0036] Fig. 9 It is a structural schematic diagram of the storage rack of the entire assembly line mechanism of the present invention.

[0037] In the figure: 1. ion dust removal feeding mechanism, 11. transport shaft mechanism, 12. discharge belt, 13. mobile rack, 14. grabbing structure, 15. feeding dust removal robot, 16. dust removal area, 2. glue pouring and curing mechanism, 21. glue pouring and filling mechanism, 211. glue pouring machine, 212. drying machine, 22. cooling cache mechanism, 221. first cache box, 2211. vertical heat dissipation structure, 2212. cooling fan, 2213. vent, 222. second cache box, 2221. vertical storage structure, 223. transmission structure, 224. heat dissipation cover, 23. feeding belt, 3. upper cover assembly mechanism, 31. upper cover loading rack, 32. upper cover assembly station, 321. exchange station, 322. detection Workstation, 323, cover workstation, 324, pressing workstation, 325, visual inspection module, 33, assembly robot, 331, four-axis assembly robot, 332, six-axis assembly robot, 34, NG buffer structure, 4, product off-line mechanism, 41, pallet transportation mechanism, 411, two-axis clamping platform, 412, clamping device, 42, off-line transport vehicle, 43, loading transport vehicle, 5, pallet recovery mechanism, 51, recovery rack, 511, inlet, 512, vertical conveying platform, 52, storage rack, 521, outlet, 522, storage structure, 53, recovery belt, 54, conveying port, 55, support frame, 6, cleaning device, 7, transport vehicle parking area, 71, transport vehicle fixing device. DETAILED DESCRIPTION

[0038] The present invention is further described below in conjunction with the accompanying drawings and implementation modes.

[0039] like Figure 1-9As shown, the present invention is an IGBT power module automatic glue filling line, including an ion dust removal feeding mechanism 1, a glue filling and curing mechanism 2, an upper cover assembly mechanism 3, a product offline mechanism 4 and a tray recovery mechanism 5; the ion dust removal feeding mechanism 1 includes a cleaning device 6, a transport shaft mechanism 11 and a discharge belt 12, the cleaning device 6 is connected to one end port of the discharge belt 12 of the ion dust removal feeding mechanism 1 and the transport shaft mechanism 11, the glue filling and curing mechanism 2 is connected to the other end port of the discharge belt 12, the glue filling and curing mechanism 2 is connected to the upper cover assembly mechanism 3, the other side of the upper cover assembly mechanism 3 is connected to the product offline mechanism 4, and the tray recovery mechanism 5 is connected to the product offline mechanism 4 and the discharge belt 12 of the ion dust removal feeding mechanism 1. The present invention integrates the ion dust removal feeding mechanism 1, the glue filling and curing mechanism 2, the upper cover assembly mechanism 3, the product offline mechanism 4 and the tray recovery mechanism 5. The semi-closed loop assembly line has a high degree of glue filling completion, occupies less space, and the mechanisms are connected. The robot has multiple functions, compact structure and low energy consumption. In the ion dust removal feeding mechanism 1, a feeding and dust removal robot 15 is used to clamp and place the IGBT module. The feeding and dust removal robot 15 can clamp at least 2 IGBT modules at a time, which improves efficiency and prevents time waste. The cleaning device 6 includes at least two dust removal covers and loading trays corresponding to the number of dust removal covers. The loading tray adopts a bottom sliding structure. When receiving the IGBT module and when cleaning is completed, it slides to the feeding and dust removal robot 15, and returns to the dust removal cover for cleaning and dust removal after receiving the IGBT module. The bottom of the loading tray is equipped with a slide rail, which makes sliding easier and more labor-saving. The transport shaft mechanism 11 is composed of multiple rollers arranged horizontally, which are driven by belts and motors to rotate at a uniform speed to transport the pallet on the transport trolley to a position where the grasping structure 14 can grasp it. The mechanisms are closely matched. The discharge belt 12 is the last step of this product, and other transmission mechanisms or storage mechanisms can be connected later.

[0040] The transport axis mechanism 11 also includes a moving frame 13 and a grabbing structure 14. The grabbing structure 14 is installed on the moving frame 13 to cooperate with the moving frame to realize the movement of the X and Z axes. The loading position of the ion dust removal feeding mechanism 1 is a loading belt 23 for transporting the loading. The loading belt 23 is arranged behind the moving frame 13 and the grabbing structure 14. The bottom of the grabbing structure 14 is a pallet clamp. The pallet clamp is also equipped with a clamping block and a clamping cylinder for clamping. The clamping force is large to prevent the pallet from falling off. The limit rod provided on the transport axis mechanism 11 is used to position and limit the pallet. The position of the clamp and the actual position of the pallet on the transport axis mechanism 11 ensure that the positions of the pallet clamp and the pallet correspond, making clamping more convenient. A loading and dust removal robot 15 is also provided at the center of the ion dust removal feeding mechanism 1; the ion dust removal feeding mechanism 1 is also provided with a dust removal area 16, which is arranged around the transport axis mechanism 11. The dust removal area 16 includes a pallet outlet, and the pallet outlet and the dust removal area 16 are arranged horizontally and vertically, thereby improving the utilization area of ​​the space. At the same time, a separate transmission motor is provided, and the transmission power is sufficient.

[0041] The glue curing mechanism 2 includes a glue filling mechanism 21 and a cooling buffer mechanism 22; the glue filling mechanism 21 includes a glue filling machine 211 and a drying machine 212, the glue filling machine 211 is connected to the discharge belt 12 at the end of the ion dust removal feeding mechanism 1, and the drying machine 212 is connected to the glue filling machine 211; the glue filling machine 211 controls the three-dimensional precision moving platform to drive the glue injection and mixing glue filling head to move according to the preset trajectory of the IGBT module structure under a vacuum environment, and the glue filling amount is accurately controlled by the metering pump during the glue filling process to complete the glue filling of the IGBT module, and then transport it to the drying machine. The dryer 212 performs high temperature curing; the cooling cache mechanism 22 includes a first cache box 221 and a second cache box 222, the first cache box 221 includes a vertical heat dissipation structure 2211, a cooling fan 2212 and a vent 2213, and the second cache box 222 includes a vertical storage structure 2221. The dryer 212, the vertical heat dissipation structure 2211 and the vertical storage structure 2221 are connected by a conveyor belt, and the conveyor belt passes through the vertical storage structure 2221 and is connected to the upper cover assembly mechanism 3, and the first cache box 221 and the second cache box 2 The top of each of the first and second cache boxes 22 is provided with a transmission structure 223 and a heat dissipation cover 224. The first cache box 221 is used for the first caching and cooling of the IGBT modules transported from the dryer 212, and the second cache box 222 is used to store the IGBT modules transported from the first cache box 221. The first cache box 221 and the second cache box 222 are both provided with a multi-layer structure, so that the pallets loaded with the IGBT modules are stored vertically, which greatly reduces the horizontal storage area, and the tops of the first and second cache boxes 221 and 222 are both capped to prevent vertical dust from falling onto the pallets and the IGBT modules. The vertical heat dissipation structure 2211 and the vertical storage structure 2221 both include two mounting plates, and several layers of lifting hooks are placed on the mounting plates. The lifting hooks are provided with rollers, and the pallets enter the lifting hooks from the rollers. The clips at the tail ends of the lifting hooks are buckled to fix the pallets. The lifting motor controls the vertical movement of the mounting plate, so that all pallets can enter each layer of the lifting hooks of the mounting plate in turn to achieve the purpose of vertical placement, which is convenient for storage and uniform cooling. When multiple rollers are provided, the pallets can be transported more smoothly and effectively to prevent the pallets from tilting.

[0042] The upper cover assembly mechanism 3 includes an upper cover loading rack 31, an upper cover assembly station 32 and an assembly robot 33. The upper cover assembly station 32 includes an exchange station 321, an inspection station 322, an upper cover station 323 and a pressing station 324. The exchange station 321, the inspection station 322, the upper cover station 323 and the pressing station 324 are arranged at four positions of the wheel. The station sequence is the exchange station 321, the inspection station 322, the upper cover station 323 and the pressing station 324. The upper cover loading rack 31 is arranged outside the upper cover station 323. A visual inspection module 325 is provided between the upper cover loading rack 323 and the upper cover loading rack 31; the assembly robot 33 includes a four-axis assembly robot 331 and a six-axis assembly robot 332, the four-axis assembly robot 331 is installed between the upper cover loading rack 31 and the upper cover station 323, and the six-axis assembly robot 332 is installed between the NG buffer structure 34 and the exchange station 321; the upper cover assembly mechanism 3 also includes an NG buffer structure 34, which is arranged outside the exchange station 321. The IGBT module is firstly assembled from the transmission by the six-axis assembly robot 332. The conveyor belt is placed on the exchange station 321. The flatness detection sensor inside the exchange station 321 detects the distance at each location on the bottom of the IGBT module to determine whether the flatness is qualified. After the detection is completed, the wheel rotates to rotate the turntable under the exchange station 321 to the detection station 322. At the same time, the next IGBT module is placed at the exchange station 321 to improve efficiency. The detection station 322 uses line laser scanning to locate and detect the glue filling height and pin position of the IGBT module. The wheel continues to rotate to make the IGBT of the detection station 322 When the BT module reaches the upper cover station 323, the four-axis assembly robot 331 near the upper cover station 323 will install the upper cover from the upper cover area to the IGBT module, and then the turntable will move to the bottom of the pressing station 324, where the pressing station 324 will tighten the upper cover. Finally, it will rotate back to the exchange station 321, where the six-axis assembly robot 332 will take out the qualified products for loading or transfer the unqualified products to the NG buffer structure 34. The visual inspection module 325 will perform visual positioning on the upper cover before installation to ensure that the upper cover can maintain the same installation accuracy after the path movement.

[0043] The product offline mechanism 4 includes a pallet transport mechanism 41 and an offline transport vehicle 42. The pallet transport mechanism 41 includes a two-axis clamping platform 411 and a clamping device 412. The clamping device 412 is installed on the two-axis clamping platform 411. The two-axis clamping platform 411 is movable in the X-axis and Z-axis. The two-axis clamping platform 411 spans the entire product offline mechanism 4 on the X-axis. The clamping device 412 is provided with a clamping cylinder and a clamping block. The offline transport vehicle 42 for placing spare pallets and the loading transport vehicle 43 for empty pallets are arranged in front of the pallet transport mechanism 41 for the pallet transport mechanism 41 to call. The pallet transport mechanism 41 and the upper cover assembly mechanism 3 are connected to transport the pallets through a conveyor belt. The outer side of the product offline mechanism 4 is also provided with a blister tray loading area.

[0044] The pallet recovery mechanism 5 includes a recovery rack 51, a storage rack 52 and a recovery belt 53, one end of the recovery belt 53 is connected to the recovery rack 51, and the other end is connected to the storage rack 52; the storage rack 52 includes an upper conveying port 54, a lower tray outlet 521 and a storage structure 522, the tray outlet 521 is connected to the middle of the storage structure 522, and the conveying port 54 is connected to the top of the storage structure 522; the recovery rack 51 includes an inlet 511, a vertical conveying platform 512 and a conveying port 54, the vertical conveying platform 512 transports the pallet inlet 511 to the conveying port 54, the two ends of the recovery belt 53 are connected to the recovery rack 51 and the conveying port 54 of the storage rack 52, the storage structure 522 includes a motor group and a middle pallet rack that are linked up and down to drive the middle pallet rack to move, and the pallet rack includes a transmission chain and a mounting plate, the mounting plate is connected to the motor group for movement through a transmission chain, the transmission chain is composed of a plurality of chain links connected in series, the mounting plate is composed of a plurality of long gaskets arranged, the chain links of the transmission chain are respectively connected to the long gaskets of the mounting plate, the chain links and the long gaskets refine the structure and also make the entire storage structure more flexible, a pallet slot for placing the pallet is provided on the long gasket, the vertical conveying platform 512 includes a lifting track and a clamping part, the vertical conveying platform 512 is fixed to one side of the clamping part, and the other side of the clamping part is connected to the lifting track and is powered by a lifting motor to move up and down on the lifting track, a rolling belt and a rolling motor of the rolling belt are also provided on the vertical conveying platform 512 for conveying and receiving pallets, the structure is reasonable and clear, the pallet transportation speed is fast and the transportation connection effect of each part is good.

[0045] The ion dust removal feeding mechanism 1 and the product unloading mechanism 4 are both provided with a transport vehicle parking area 7 and a transport vehicle fixing device 71. The transport vehicle fixing device 71 is installed in the transport vehicle parking area 7. Both sides of the transport vehicle fixing device 71 are horizontally arranged guide wheels. There are several guide wheels. The guide wheels contact the side of the transport vehicle to guide the transport vehicle to enter, and the outer port of the transport vehicle fixing device 71 is provided with a buckle, which buckles the rear end of the transport vehicle after the transport vehicle fully enters to prevent the transport vehicle from sliding.

[0046] The length of the recovery belt 53 can be adjusted according to the length of the assembly line. A number of support frames 55 are provided below the recovery belt 53. The specific length of the recovery belt 53 and the number of support frames 55 can be flexibly increased or decreased according to the length occupied by the specific process line, and the scope of application is wider.

[0047] A working method of an IGBT power module automatic glue filling line specifically comprises the following steps:

[0048] Step 1: Push the transport trolley loaded with the IGBT module tray to the transport trolley parking area 7 of the ion dust removal feeding mechanism 1. The guide wheels in the transport trolley parking area 7 guide the transport trolley to enter and fix the transport trolley through the transport trolley fixing device 71. The tray on the transport trolley is transported to the bottom of the grabbing structure 14 through the feeding belt 23. The mobile frame 13 aligns the grabbing structure 14 to the top of the tray through the limit rod at the feeding belt 23. The grabbing structure 14 moves down to the tray through the cylinder and clamps the tray to the dust removal area 16.

[0049] Step 2: The loading and dust removal robot 15 takes out the IGBT module on the tray in the dust removal area and places it on the cleaning device 6. A number of IGBT modules are placed on the cleaning device 6. After the cleaning device 6 finishes cleaning the IGBT module, the loading and dust removal robot 15 moves the cleaned IGBT module to an empty tray on the discharge belt 12, which is transported to the glue filling and curing mechanism 2 by the discharge belt 12. At the same time, the loading and dust removal robot 15 transfers the IGBT module newly placed in the dust removal area 16 to the cleaning device 6 for dust removal. The empty tray with the IGBT module taken out by the loading and dust removal robot 15 is output from the tray outlet;

[0050] Step 3: The IGBT module tray is transported by the discharge belt to the glue filling machine 211 for glue filling. After the glue filling is completed, it is transferred to the drying machine 212 for high-temperature curing of the glue. Then, the IGBT module with the glue is transported to the first cache box 221 for cooling and heat dissipation. The vertical heat dissipation structure 2211 in the first cache box 221 links the trays with the IGBT modules in layers through the two side support plates and the top transmission structure 223. The cooling fan 2212 blows air to cool the tray on the vertical heat dissipation structure 2211. The blown air rises due to the heat and passes through the vent 2213 on the opposite side of the cooling fan 2212 of the first cache box 221 and the heat dissipation cover 224 above.

[0051] Step 4: The pallets cooled by the fan in the first cache box 221 are transported to the second cache box 222. The pallets are stacked in layers in the vertical storage structure 2221 of the second cache box 222 through the linkage of the two side support plates and the top transmission structure 223. The pallets in the second cache box 222 are not immediately transported to the upper cover assembly mechanism 3. When needed, they are opened and transported. The pallets are stored in the second cache box 222 for a long time, and the residual heat is dissipated through the top heat dissipation cover 224.

[0052] Step 5: When the tray in the second buffer box 222 is taken to the upper cover assembly mechanism 3, the tray is transported by the conveyor belt to the rear side of the exchange station 321 of the upper cover assembly mechanism 3, and the six-axis assembly robot 332 near the exchange station 321 clamps the IGBT module on the tray to the exchange station 321, and the flatness detection module under the exchange station detects the flatness of the IGBT module. After the detection, the upper cover assembly station 32 rotates to rotate the IGBT module on the exchange station 321 to the detection station 322, and the six-axis assembly robot 332 places the second IGBT module on the exchange station 321. The first IGBT module completes the pin and glue filling degree detection at the detection station 322, and rotates to the upper cover station 323. The upper cover is loaded by the upper cover loading rack 31 It is transported to the upper cover area, and is placed on the visual inspection module 325 by the four-axis assembly robot 331 to detect the position of the upper cover. After that, the four-axis assembly robot 331 moves the upper cover to the IGBT module of the upper cover station 323, and then rotates to the pressing station 324. The servo motor and servo press of the pressing station 324 press the upper cover and the IGBT module according to the data of the internal pressure monitor and the displacement monitor, and then rotates back to the exchange station 321. The six-axis assembly robot 332 moves the IGBT module with the upper cover completed on the exchange station 321 to the product offline mechanism 4 for loading, and puts the unqualified products into the NG buffer structure 34. The NG products include the products with insufficient glue filling height, uneven glue filling, and inaccurate pin position detected by the inspection station 322 through the line laser;

[0053] Step 6: The conveyor belt passes through the middle of the product offline mechanism 4, and the two-axis clamping platform 411 on the rear side of the conveyor line controls the clamping device 412 to clamp the pallet loaded with IGBT modules on the conveyor belt and place it on the transport trolley in the transport vehicle parking area 7, and put the empty pallet from the loading transport vehicle 43 onto the conveyor belt to continue loading.

[0054] Steps 1 to 5 also include:

[0055] Step A: The pallet recovery mechanism 5 delivers the empty pallet of the offline transport vehicle 42 into the frame of the recovery rack 51 through the pallet inlet 511, and is transported upward to the conveying port 54 by the vertical conveying platform 512 in the frame of the recovery rack 51 to enter the recovery belt 53. The empty pallet is transported to the conveying port 54 on the upper side of the storage rack 52 through the recovery belt 53. The pallet is stacked in layers through the storage structure 522 and the linkage mechanism of the storage structure 522. When needed, the pallet is transported from the pallet outlet 521 to the discharge belt 12 for the cleaned IGBT modules on the discharge belt 12 to be loaded onto the pallet. The pallet recovery mechanism 5 runs through the entire working process of the assembly line.

[0056] The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0057] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An IGBT power module automatic glue filling line, characterized by: It comprises an ion dust removal feeding mechanism (1), a glue pouring and curing mechanism (2), an upper cover assembly mechanism (3), a product unloading mechanism (4) and a tray recovery mechanism (5); The ion dust removal feeding mechanism (1) comprises a cleaning device (6), a transport shaft mechanism (11) and a discharge belt (12); the cleaning device (6) is connected to one end port of the discharge belt (12) of the ion dust removal feeding mechanism (1) and the transport shaft mechanism (11); the glue pouring and curing mechanism (2) is connected to the other end port of the discharge belt (12); the glue pouring and curing mechanism (2) is connected to the upper cover assembly mechanism (3); the other side of the upper cover assembly mechanism (3) is connected to the product offline mechanism (4); the tray recovery mechanism (5) is connected to the product offline mechanism (4) and is passed to the discharge belt (12) of the ion dust removal feeding mechanism (1); The transport axis mechanism (11) further comprises a moving frame (13) and a gripping structure (14); the gripping structure (14) is mounted on the moving frame (13) and cooperates with the moving frame to realize the movement of the X and Z axes; the loading position of the ion dust removal feeding mechanism (1) is a loading belt (23) for transporting the loading material; the loading belt (23) is arranged behind the moving frame (13) and the gripping structure (14); and a loading and dust removal robot (15) is also provided at the center of the ion dust removal feeding mechanism (1); The ion dust removal and feeding mechanism (1) is further provided with a dust removal area (16), the dust removal area (16) being arranged around the transport shaft mechanism (11), and the dust removal area (16) comprising a tray outlet; The glue pouring and curing mechanism (2) comprises a glue pouring and filling mechanism (21) and a cooling and buffering mechanism (22); The glue filling mechanism (21) comprises a glue filling machine (211) and a drying machine (212); the glue filling machine (211) is connected to a discharge belt (12) at the end of the ion dust removal feeding mechanism (1), and the drying machine (212) is connected to the glue filling machine (211); The cooling cache mechanism (22) comprises a first cache box (221) and a second cache box (222); the first cache box (221) comprises a vertical heat dissipation structure (2211), a cooling fan (2212) and a vent (2213); the second cache box (222) comprises a vertical storage structure (2221); the dryer (212), the vertical heat dissipation structure (2211) and the vertical storage structure (2221) are connected by a conveyor belt; the conveyor belt passes through the vertical storage structure (2221) and is connected to the upper cover assembly mechanism (3); the tops of the first cache box (221) and the second cache box (222) are both provided with a transmission structure (223) and a heat dissipation cover (224); The upper cover assembly mechanism (3) comprises an upper cover loading rack (31), an upper cover assembly station (32) and an assembly robot (33); the upper cover assembly station (32) comprises an exchange station (321), an inspection station (322), an upper cover station (323) and a pressing station (324); the exchange station (321), the inspection station (322), the upper cover station (323) and the pressing station (324) are arranged at four positions of the wheel disc, and the station sequence is the exchange station (321), the inspection station (322), the upper cover station (323) and the pressing station (324); the upper cover loading rack (31) is arranged outside the upper cover station (323); and a visual inspection module (325) is provided between the upper cover station (323) and the upper cover loading rack (31); The assembly robot (33) comprises a four-axis assembly robot (331) and a six-axis assembly robot (332); the four-axis assembly robot (331) is installed between the upper cover loading rack (31) and the upper cover workstation (323), and the six-axis assembly robot (332) is installed between the NG buffer structure (34) and the exchange workstation (321); The upper cover assembly mechanism (3) further comprises an NG buffer structure (34), wherein the NG buffer structure (34) is arranged outside the exchange station (321); The product offline mechanism (4) comprises a pallet transport mechanism (41), an offline transport vehicle (42) and a loading transport vehicle (43). The pallet transport mechanism (41) comprises a two-axis clamping platform (411) and a clamping device (412). The clamping device (412) is installed on the two-axis clamping platform (411). The two-axis clamping platform (411) is movable along the X-axis and the Z-axis. The two-axis clamping platform (411) spans the entire product offline mechanism (4) along the X-axis. A clamping cylinder and a clamping block are provided on the clamping device (412). The offline transport vehicle (42) for placing spare pallets and the loading transport vehicle (43) for placing empty pallets on the line are arranged in front of the pallet transport mechanism (41) for use by the pallet transport mechanism (41). The pallet transport mechanism (41) is connected to the upper cover assembly mechanism (3) via a conveyor belt to transport the pallets. The tray recovery mechanism (5) comprises a recovery rack (51), a storage rack (52) and a recovery belt (53); one end of the recovery belt (53) is connected to the recovery rack (51), and the other end is connected to the storage rack (52); The storage rack (52) comprises an upper conveying port (54), a lower tray outlet (521) and a storage structure (522); the tray outlet (521) is connected to the middle of the storage structure (522), and the conveying port (54) is connected to the top of the storage structure (522); The recovery rack (51) comprises a tray inlet (511), a vertical conveying platform (512) and a conveying port (54); the vertical conveying platform (512) transports the trays from the tray inlet (511) to the conveying port (54); and the two ends of the recovery belt (53) are connected to the recovery rack (51) and the conveying port (54) of the storage rack (52); The ion dust removal loading mechanism (1) and the product unloading mechanism (4) are both provided with a transport vehicle parking area (7) and a transport vehicle fixing device (71), and the transport vehicle fixing device (71) is installed in the transport vehicle parking area (7); The length of the recovery belt (53) can be adjusted according to the length of the assembly line, and a plurality of support frames (55) are provided below the recovery belt (53); The working method applied to the automatic glue filling line of IGBT power module is characterized by comprising the following steps: Step 1: Push the transport trolley loaded with the IGBT module tray to the transport trolley parking area (7) of the ion dust removal loading mechanism (1); the guide wheels in the transport trolley parking area (7) guide the transport trolley into the transport trolley and fix the transport trolley through the transport trolley fixing device (71); the tray on the transport trolley is transported to the bottom of the gripping structure (14) through the loading belt (23); the moving frame (13) aligns the gripping structure (14) to the top of the tray through the limit rod at the loading belt (23); the gripping structure (14) moves down to the tray through the cylinder and clamps the tray to the dust removal area (16); Step 2: The loading and dust removal robot (15) takes out the IGBT module on the tray in the dust removal area and places it on the cleaning device (6). A number of IGBT modules are placed on the cleaning device (6). After the cleaning device (6) finishes cleaning the IGBT module, the loading and dust removal robot (15) moves the cleaned IGBT module to an empty tray on the discharge belt (12), which is then transported to the glue filling and curing mechanism (2) by the discharge belt (12). At the same time, the loading and dust removal robot (15) transfers the IGBT module newly placed in the dust removal area (16) to the cleaning device (6) for dust removal. The empty tray with the IGBT module taken out by the loading and dust removal robot (15) is output from the tray outlet. Step 3: The IGBT module tray is transported by the discharge belt to the glue filling machine (211) for glue filling. After the glue filling is completed, it is transferred to the drying machine (212) for high-temperature curing of the glue. Then, the IGBT module with the glue is transported to the first cache box (221) for cooling and heat dissipation. The vertical heat dissipation structure (2211) in the first cache box (221) links the trays equipped with the IGBT modules in layers through the lifting hooks through the two side support plates and the top transmission structure (223). The cooling fan (2212) blows air to cool the trays on the vertical heat dissipation structure (2211). The blown air rises due to the heat and passes through the vents (2213) on the opposite side of the cooling fan (2212) of the first cache box (221) and the heat dissipation cover (224) above. Step 4: After being cooled by a fan in the first cache box (221), the pallets are transported to the second cache box (222). The pallets are stacked in layers in the vertical storage structure (2221) of the second cache box (222) through the linkage of the two side support plates and the top transmission structure (223). The pallets in the second cache box (222) are not immediately transported to the upper cover assembly mechanism (3). When necessary, they are opened and transported. The pallets are stored in the second cache box (222) for a long time, and the residual heat is dissipated through the top heat dissipation cover (224). Step 5: When the tray in the second buffer box (222) is taken to the upper cover assembly mechanism (3), the tray is transported by the conveyor belt to the rear side of the exchange station (321) of the upper cover assembly mechanism (3), and the six-axis assembly robot (332) near the exchange station (321) clamps the IGBT module on the tray to the exchange station (321), and the flatness detection module under the exchange station detects the flatness of the IGBT module. After the detection is completed, the upper cover assembly station (32) rotates to rotate the IGBT module on the exchange station (321) to the detection station (322), and the six-axis assembly robot (332) places the second IGBT module on the exchange station (321), and the first IGBT module is inspected for pins and glue filling at the inspection station (322). The upper cover is measured, rotated to the upper cover station (323), the upper cover is transported to the upper cover area by the upper cover loading rack (31), and is placed on the visual inspection module (325) by the four-axis assembly robot (331) to inspect the position of the upper cover. After that, the four-axis assembly robot (331) moves the upper cover to the IGBT module of the upper cover station (323), and then rotates to the pressing station (324). The servo motor and servo press of the pressing station (324) press the upper cover and the IGBT module according to the data of the internal pressure monitor and the displacement monitor, and then rotates back to the exchange station (321). The six-axis assembly robot (332) moves the IGBT module with the upper cover completed on the exchange station (321) to the product offline mechanism (4) for loading, and puts the unqualified products into the NG buffer structure (34); Step 6: The conveyor belt passes through the middle of the product off-line mechanism (4), and the two-axis clamping platform (411) at the rear side of the conveyor line controls the clamping device (412) to clamp the pallet loaded with IGBT modules on the conveyor belt and place it on the transport trolley in the transport vehicle parking area (7), and then put the empty pallet from the loading transport vehicle (43) onto the conveyor belt to continue loading.

2. The working method of the IGBT power module automatic glue filling line according to claim 1, characterized in that: Steps 1 to 5 are also performed while: Step A: The pallet recovery mechanism (5) delivers the empty pallet of the offline transport vehicle (42) into the frame body of the recovery rack (51) through the pallet inlet (511), and the pallet is transported upward to the conveying port (54) by the vertical conveying platform (512) in the frame body of the recovery rack (51) and enters the recovery belt (53). The empty pallet is transported to the conveying port (54) on the upper side of the storage rack (52) through the recovery belt (53). The pallet is stacked in layers through the storage structure (522) and the linkage mechanism of the storage structure (522). When the pallet is needed, it is transported from the pallet outlet (521) to the discharge belt (12) for loading the cleaned IGBT modules on the discharge belt (12).

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