Intelligent power module efficient mounting device

Abstract

The application discloses a kind of intelligent power module high-efficiency mounting equipment, including workbench and controller electrically connected three-axis moving mechanism, taking and placing mechanism and transmission track, three-axis moving mechanism is driven corresponding X-axis mechanical arm, Y-axis mechanical arm and Z-axis mechanical arm by drive assembly and is respectively reciprocated along X, Y and Z direction, XY direction follower table can be slidably connected with the Y direction guide rail of X-axis mechanical arm and the first X direction guide rail of Y-axis mechanical arm, XZ direction follower can be slidably in the second X direction guide rail of Z-axis mechanical arm, and the mounting seat connected with XZ direction follower can be slidably in the Z direction guide rail of XY direction follower table, mounting seat is connected with taking and placing mechanism, at least two transmission tracks are set on the table top of workbench for transmission aluminum substrate and other elements, taking and placing mechanism is grabbed, placed to the material transmission on transmission track, realizes the efficient mounting and automation of power module.

Description

Technical Field

[0001] This invention relates to the field of power modules, and in particular to a high-efficiency mounting device for intelligent power modules. Background Technology

[0002] A power module, or Module Intelligent Power System (MIPS), is a power drive product that combines power electronics and integrated circuit technology. MIPS not only integrates power switching devices and drive circuits, but also incorporates fault detection circuits for overvoltage, overcurrent, and overheating. It integrates intelligent control ICs and high-power devices such as IGBTs, MOSFETs, and FRDs for power output, as well as some resistors and capacitors. These components are soldered onto an aluminum substrate using tin-based solder.

[0003] The manufacturing of power modules includes steps such as printing solder paste on an aluminum substrate, installing heat sinks, surface mount components, wire bonding, and drying / injection molding. During surface mount assembly, components and heat sinks need to be picked up one by one and moved above an infrared detector for inspection. After successful inspection, they are moved back to the aluminum substrate for placement. Completing a single surface mount assembly requires several manual movements, thus affecting the efficiency of the placement machine. Summary of the Invention

[0004] To address the aforementioned shortcomings, the present invention aims to provide an intelligent power module high-efficiency mounting device, which solves the problem that before power modules are mounted, manual placement of the carrier board containing the aluminum substrate, heat sink, and other components into the mounting device is required, resulting in low efficiency and a lack of automation.

[0005] To achieve this objective, the present invention adopts the following technical solution:

[0006] A high-efficiency intelligent power module mounting device includes a worktable, a three-axis moving mechanism, a pick-and-place mechanism, a transmission track, and a controller, wherein the three-axis moving mechanism, the pick-and-place mechanism, and the transmission track are electrically connected to the controller.

[0007] The three-axis moving mechanism includes an X-axis drive assembly, an X-axis robotic arm, a Y-axis drive assembly, a Y-axis robotic arm, a Z-axis drive assembly, a Z-axis robotic arm, an XY-axis following stage, an XZ-axis following component, and a mounting base;

[0008] The X-axis drive assembly and Y-axis drive assembly are respectively mounted on the table surface of the worktable, and the Z-axis drive assembly is vertically fixed to the table surface of the worktable; the X-axis drive assembly is movably mounted with the X-axis robotic arm, and the X-axis drive assembly is used to drive the X-axis robotic arm to reciprocate along the X direction; the Y-axis drive assembly is movably mounted with the Y-axis robotic arm, and the Y-axis drive assembly is used to drive the Y-axis robotic arm to reciprocate along the Y direction; the Z-axis drive assembly is movably mounted with the Z-axis robotic arm, and the Z-axis drive assembly is used to drive the Z-axis robotic arm to reciprocate along the Z direction.

[0009] The X-axis robotic arm is provided with a Y-axis guide rail, the Y-axis robotic arm is provided with a first X-axis guide rail, and the Z-axis robotic arm is provided with a second X-axis guide rail.

[0010] The XY-direction following stage is slidably connected to the Y-direction guide rail and the first X-direction guide rail respectively, and the XY-direction following stage is provided with a Z-direction guide rail;

[0011] The XZ-direction follower is slidably connected to the second X-direction guide rail, the XZ-direction follower is fixed with the mounting base, the mounting base is slidably connected to the Z-direction guide rail, and the mounting base is detachably connected to the pick-and-place mechanism.

[0012] The transmission rails are located on the workbench surface, and there are at least two sets of transmission rails.

[0013] Preferably, the transmission track includes an outer track and an inner track that are parallel to each other. The outer track and the inner track have the same structure and their vertical cross-section is an inverted L-shaped structure. The outer track and the inner track are arranged at right angles to each other.

[0014] The outer track and the inner track are respectively provided with a first pulley and a second pulley at both ends along the length direction. The first pulley and the second pulley are wrapped with belts. The rotating shaft of the first motor is connected to the two first pulleys at the same end. The first motor is electrically connected to the controller.

[0015] Preferably, the transmission track is mounted on the workbench surface via track supports; there are two track supports, located at both ends of the transmission track, and the length direction of the track supports is perpendicular to the length direction of the transmission track.

[0016] The track support is provided with guide rails, and the outer track and the inner track are respectively provided with sliding grooves that can slide on the guide rails 1;

[0017] The track support is also equipped with a lead screw driven by a second motor. The inner track of the transmission track is equipped with a lead screw connecting seat that is movably connected to the lead screw. The second motor is electrically connected to the controller.

[0018] One set of lead screw connecting seats for the transmission rails is connected to the lead screw of the rail bracket at one end, and the other set of lead screw connecting seats for the transmission rails is connected to the lead screw of the rail bracket at the other end.

[0019] Preferably, the pick-and-place mechanism includes a nozzle base and a patch nozzle rod, wherein the patch nozzle rod is detachably mounted to the mounting base via the nozzle base;

[0020] The nozzle base includes a vertical base and a horizontal base. The horizontal base of the nozzle base is provided with a through mounting hole. The vertical base is provided with a limiting groove on the side facing the mounting hole. Limiting bosses are provided on both sides of the mounting hole of the horizontal base of the nozzle base. The height direction of the limiting bosses is parallel to the vertical direction. The upper surface of the limiting bosses is provided with limiting holes that extend vertically downwards.

[0021] The upper end of the patch suction rod is fixed with a limiting part, which consists of left and right limiting members and front and rear limiting bosses; the horizontal cross-section of the left and right limiting members is approximately T-shaped, and the bottom of the left and right limiting members is integrally formed with two limiting rods corresponding to the limiting holes of the limiting bosses; the front and rear limiting bosses are fixed to the rear of the left and right limiting members, and the front and rear limiting bosses cooperate with the limiting grooves;

[0022] A contact sensor is provided at the position where the nozzle base and the limiting part are in relative contact, and the contact sensor is electrically connected to the controller.

[0023] Preferably, the mounting base is further provided with a camera, which is electrically connected to the display, and the camera's shooting range is the workbench surface.

[0024] Preferably, the X-axis drive assembly, Y-axis drive assembly, and Z-axis drive assembly are all linear motors. The mover of the linear motor is connected to the corresponding X-axis robotic arm, Y-axis robotic arm, and Z-axis robotic arm, and the stator of the linear motor is fixed to the worktable. The linear motor is electrically connected to the controller.

[0025] Preferably, the linear motor includes a grating ruler and an encoder, the encoder being used to read the grating number of the grating ruler;

[0026] The linear motor has an origin position sensor on its outside stator, which is located on one side of the stator along its length. The robotic arm has a metal sensing part that works in conjunction with the origin position sensor.

[0027] Preferably, it further includes a Y-axis auxiliary guide rail and a Z-axis auxiliary guide rail fixed to the worktable respectively. The end of the Y-axis robotic arm away from the mover is slidably connected to the Y-axis auxiliary guide rail, and the Y-axis robotic arm can slide on the Y-axis auxiliary guide rail. The end of the Z-axis robotic arm away from the mover is slidably connected to the Z-axis auxiliary guide rail, and the Z-axis robotic arm can slide on the Z-axis auxiliary guide rail.

[0028] Preferably, the X-axis robotic arm, Y-axis robotic arm, Z-axis robotic arm, XY-axis following stage, XZ-axis following component and mounting base, Y-axis auxiliary guide rail and Z-axis auxiliary guide rail are all made of aerospace aluminum material.

[0029] The technical solution provided by this invention may include the following beneficial effects:

[0030] 1. By setting multiple sets of material transport tracks on the workbench of the power module mounting equipment, the aluminum substrate, heat sink and other components of the power module can be transported and loaded simultaneously, improving the mounting efficiency and realizing the automation and high efficiency of power module mounting.

[0031] 2. By mounting the pick-and-place mechanism on a highly responsive three-axis moving mechanism, the pick-and-place mechanism can precisely and accurately position the material on the worktable under the drive of a linear motor, so that electronic components can accurately reach the destination to be assembled. Attached Figure Description

[0032] The accompanying drawings further illustrate the present invention, but the content of the drawings does not constitute any limitation on the present invention.

[0033] Figure 1 This is a schematic diagram of the structure of one embodiment of the present invention;

[0034] Figure 2 This is a structural schematic diagram of the three-axis moving mechanism of the present invention (excluding the worktable);

[0035] Figure 3 This is a schematic diagram of the structure of the transmission track and track support according to an embodiment of the present invention;

[0036] Figure 4 This is a schematic diagram of the picking and placing mechanism according to an embodiment of the present invention;

[0037] Figure 5 This is a schematic diagram of the structure of the X-axis drive assembly and the X-axis robotic arm of the present invention;

[0038] Figure 6 This is a schematic diagram of the structure of the Y-axis drive assembly and the Y-axis robotic arm of the present invention;

[0039] Figure 7 This is a schematic diagram of the Z-axis drive assembly and Z-axis robotic arm of the present invention.

[0040] Among them: X-axis drive component 1,

[0041] X-axis robotic arm 2, Y-axis guide rail 21

[0042] Y-axis drive component 3

[0043] Y-axis robotic arm 4, first X-axis guide rail 41

[0044] Z-axis drive assembly 5

[0045] Z-axis robotic arm 6, second X-axis guide rail 61

[0046] XY-axis follower stage 7, XZ-axis follower component 8, mounting base 9.

[0047] Picking and placing mechanism 10, limiting part 101, left and right limiting parts 1011, front and rear limiting protrusions 1012, limiting rod 1013

[0048] Transmission track 11, outer track 111, inner track 112, first pulley 113, second pulley 114, first motor 115

[0049] Track bracket 12, guide rail 121, slide rail 122, second motor 123, lead screw 124, lead screw connecting seat 125.

[0050] Nozzle base 13, limiting boss 130, limiting hole 1301, assembly hole 131, limiting groove 132.

[0051] Contact sensor 14, camera 15, Y-axis auxiliary guide rail 16, Z-axis auxiliary guide rail 17

[0052] Mover 01, stator 02, grating ruler 03, encoder 04, origin position sensor 05, metal sensing unit 06. Detailed Implementation

[0053] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0054] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0055] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0056] The following is in conjunction with the appendix Figures 1 to 7 The technical solution of the present invention will be further illustrated through specific embodiments.

[0057] A high-efficiency intelligent power module mounting device includes a worktable, a three-axis moving mechanism, a pick-and-place mechanism, and a transfer track, all connected to a controller. The actuator of the three-axis moving mechanism is connected to the pick-and-place mechanism 10, which can move along the front, back, left, right, up, and down directions on the worktable via the linkage drive of the three-axis moving mechanism. At least two sets of transfer tracks 11 are provided on the worktable surface for simultaneously transferring at least two different or identical materials. The three-axis moving mechanism can drive the pick-and-place mechanism 10 to move to the material location on one set of transfer tracks 11 to pick up the material and then move it to the material location on the other set of transfer tracks 11 for placement.

[0058] The working principle of the three-axis moving mechanism of the present invention is as follows:

[0059] like Figure 1-2 As shown, the X-axis drive assembly 1 and the Y-axis drive assembly 3 are respectively mounted on the worktable surface, and the Z-axis drive assembly 5 is vertically fixed on the worktable surface. The space on the worktable formed by the X-axis drive assembly 1, the Y-axis drive assembly 3, and the Z-axis drive assembly 5 is the movement space of the three-axis moving mechanism. The X-axis drive assembly 1, the Y-axis drive assembly 3, and the Z-axis drive assembly 5 mounted on the worktable serve as the power source for the three axes. The X-axis drive assembly 1 is used to drive the X-axis robotic arm 2 to reciprocate along the X direction, the Y-axis drive assembly 3 is used to drive the Y-axis robotic arm 4 to reciprocate along the Y direction, and the Z-axis drive assembly 5 is used to drive the Z-axis robotic arm 6 to reciprocate along the Z direction.

[0060] The X-axis robotic arm 2 is provided with a Y-axis guide rail 21, the Y-axis robotic arm 4 is provided with a first X-axis guide rail 41, and the Z-axis robotic arm 6 is provided with a second X-axis guide rail 61. The XY-axis following stage 7 is slidably connected to the Y-axis guide rail 21 and the first X-axis guide rail 41 respectively, so that the XY-axis following stage 7 can reciprocate along the X-axis with the X-axis robotic arm 2 and reciprocate along the Y-axis with the Y-axis robotic arm 4, and can move in both the X and Y directions simultaneously.

[0061] The XZ-axis follower 8 is slidably connected to the second X-axis guide rail 61. The XZ-axis follower 8 is fixed with a mounting base 9, allowing the XY-axis follower stage 7 to move the mounting base 9 within its respective XY plane. Furthermore, the mounting base 9 is slidably connected to the Z-axis guide rail 71 of the XY-axis follower stage 7. Therefore, when the Z-axis robotic arm 6 moves along the Z-axis, the XZ-axis follower 8 will move the mounting base 9 along the Z-axis guide rail 71. In summary, the mounting base 9, as the actuator of the three-axis moving mechanism, can achieve forward, backward, left, right, up, and down movement within the XYZ-axis spatial range through the linkage of the above structures.

[0062] The working principle of this invention is as follows:

[0063] The transfer track 11 includes one set of transfer tracks for transporting aluminum substrates, and another set or more sets of transfer tracks for transporting other non-standard parts such as heat sinks, components, etc. During power module mounting, the aluminum substrate, heat sinks, and other accessories move along the transfer tracks 11. The pick-and-place mechanism 10 can be a mounting adsorption mechanism, or other mechanisms that perform the pick-and-place gripping function. The pick-and-place mechanism 10 is driven by a three-axis moving mechanism to move onto the heat sink and pick it up. Specifically, one end of the pick-and-place mechanism 10 contacts the heat sink, and the other end of the pick-and-place mechanism 10 uses a cylinder to purge the air from the mounting nozzle rod of the mounting adsorption mechanism to create a vacuum state, thus allowing material to be picked up. After picking up the material, the three-axis moving mechanism moves the pick-and-place mechanism 10 onto the target aluminum substrate, and by stopping the cylinder operation, restores the airflow state inside the mounting nozzle rod, thus placing the heat sink onto the target aluminum substrate, achieving heat sink mounting. Depending on the internal structure of the power module, other components can be mounted on the substrate after the heat sink has been mounted. Different transport tracks can be used for transport, or a transport track that no longer needs to transport a certain material can be used. The specific operation is the same.

[0064] Because the three-axis moving mechanism described in this solution fixes the X-axis drive assembly, Y-axis drive assembly, and Z-axis drive assembly used to drive the robotic arm to the worktable, and with the help of mutually slidingly connected components, the three-axis moving mechanism can move freely within the space formed by the drive assemblies, and has the advantage of high-efficiency response. By using this three-axis moving mechanism to drive the pick-and-place mechanism 10 on the power module mounting worktable, and simultaneously setting multiple sets of transmission tracks 11 on the worktable for transmitting different components, the mounting requirements of different power modules can be met. Furthermore, the three-axis moving mechanism, transmission tracks 11, and pick-and-place mechanism 10 are all electrically connected to the controller, realizing intelligent and fully automated power module mounting.

[0065] Furthermore, such as Figure 3 As shown, the transmission track 11 includes an outer track 111 and an inner track 112 that are parallel to each other and have the same structure. The vertical cross-section of the outer track 111 and the inner track 112 is an inverted L-shaped structure, and the outer track 111 and the inner track 112 are arranged at right angles to each other, so that the two sides of the transmission track 11 composed of the outer track 111 and the inner track 112 have vertical limiting parts, which can restrict the material on the transmission track from being transported in the track and prevent it from leaving the track.

[0066] The outer track 111 and the inner track 112 are respectively provided with a first pulley 113 and a second pulley 114 at both ends along the length direction. The belt (not shown in the figure) is wound around the first pulley 113 and the second pulley 114. The rotating shaft of the first motor 115 is connected to the two first pulleys 113 at the same end, so that the first motor 115 drives the first pulleys 113 to rotate, which in turn drives the belt to rotate around the first pulleys 113 and the second pulley 114. Since the two first pulleys 113 are connected to the same first motor 115, the belts of the outer track 111 and the inner track 112 move in the same direction and at the same speed, and the two belts can transport the materials on the transmission track 11 synchronously.

[0067] The controller can stop the first motor 115 from operating and stop the conveyor rail 11 from conveying materials. After the accessories to be mounted on the conveyor rail 11 are mounted, the controller can then control the conveyor rail to operate. Since the first motor 115 of each conveyor rail 11 is electrically connected to the controller, the operation of each conveyor rail 11 can be controlled separately.

[0068] Preferably, the transmission track 11 is in two sets: one set of transmission tracks is used to transport the aluminum substrate of the power module, and the other set of transmission tracks is used to transport the heat sink after eutectic bonding.

[0069] Furthermore, track supports 12 are located at both ends of the transmission track 11. The length direction of the track supports 12 is perpendicular to the length direction of the transmission track 11. The track supports 12 are provided with guide rails 121. The outer track 111 and the inner track 112 are respectively provided with sliding grooves 122 so that the outer track and the inner track can slide on the guide rails 121. Through the cooperation of the guide rails 121 and the sliding grooves 122, the transmission track 11 can be slidably placed on the track supports 12. The assembly of the transmission track can be achieved simply by sliding the sliding grooves 122 of the transmission track along the guide rails 121.

[0070] In addition, the track support 12 is also provided with a lead screw 124 driven by a second motor 123. The inner track 112 is provided with a lead screw connecting seat 125 that can slide on the lead screw 124. The controller can control the second motor 123 to rotate forward or backward to drive the lead screw 124 to rotate, thereby moving the lead screw connecting seat 125 along the length of the lead screw 124, so that the inner track 112 moves closer to or further away from the outer track 111, and automatically adjusts the width of the transmission track 11.

[0071] In some embodiments, the transmission rails 11 are in two sets, and the rail supports 12 are also in two sets located at both ends of the transmission rails 11. The lead screw connecting seat 125 of one set of the transmission rails is connected to the lead screw 124 of one end of the rail support 12, and the lead screw connecting seat 125 of the other set of the transmission rails is connected to the lead screw 124 of the rail support 12 at the other end. Then the width of the two sets of transmission rails 11 can be independently controlled by the corresponding second motor 123.

[0072] Furthermore, the pick-and-place mechanism 10 includes a nozzle base 13 and a patch nozzle rod, the patch nozzle rod being detachably mounted to the mounting base 9 via the nozzle base 13. Specifically, the horizontal base of the nozzle base 13 is provided with a through mounting hole 131, and the patch nozzle rod is vertically engaged in the mounting hole 131 from top to bottom. The limiting part 101 at the upper end of the patch nozzle rod is used to restrict the entire pick-and-place mechanism 10 from being engaged on the nozzle base 13. This assembly method facilitates the replacement and maintenance of the patch nozzle rod.

[0073] Preferably, a limiting groove 132 is provided on the side of the vertical base of the nozzle base 13 facing the mounting hole 131, and limiting bosses 130 are provided on the left and right sides of the mounting hole 131 of the horizontal base of the nozzle base 13. The limiting bosses 130 are higher than the horizontal base, and the upper surface of the limiting bosses 130 is provided with limiting holes 1301 vertically downwards. The limiting part 101 is composed of left and right limiting members 1011 and front and rear limiting bosses 1012. The front and rear limiting bosses 1012 are located behind the left and right limiting members 1011, and the front and rear limiting bosses 1012 are connected to the nozzle base 13. The limiting groove 132, when used in conjunction with the limiting groove, restricts the movement of the patch nozzle rod in the front-back and left-right directions. The horizontal cross-section of the left and right limiting members 1011 is approximately T-shaped. At the bottom of the left and right limiting members 1011, corresponding to the limiting holes 1301 of the limiting boss 130, two limiting rods 1013 are integrally formed. The limiting rods 1013 can be vertically inserted into the limiting holes 1301. Through the cooperation of the limiting rods 1013 and the limiting holes 1301, the movement of the patch nozzle rod can also be restricted, forming an embedded assembly structure, making the patch nozzle rod and the nozzle base 13 more stable. The structure of the nozzle base and the limiting part is simple, reducing the need for additional limiting accessories.

[0074] Preferably, a contact sensor 14 is provided at the relative contact position between the nozzle base 13 and the limiting part 101. Under normal circumstances, the contact sensors 14 are in contact with each other due to gravity. When the nozzle of the patching nozzle rod encounters upward resistance during the process of pressing down to pick up the material, the patching nozzle rod moves upward. At this time, the contact sensors 14 are no longer in contact with each other, and the signal is disconnected. The controller receives a corresponding feedback signal, indicating that the nozzle has contacted the material or substrate. The controller simultaneously sends a signal to the three-axis moving mechanism to stop moving downward and sends a signal to the pick-and-place mechanism 10 to expel the air in the rod and generate suction to pick up the material. When the three-axis moving mechanism picks up the material and moves, the contact sensors 14 will return to the initial position due to gravity, and the contact sensors 14 will contact each other. At this time, the controller does not give feedback. When the three-axis moving mechanism moves to the target position and then moves downward to pick up the material, the nozzle contacts the material or substrate again, and the contact sensor 14 disconnects the signal again, indicating that the patching nozzle rod has reached the designated position. The controller then sends a signal to the pick-and-place mechanism 10 to restore the normal air circulation in the rod and complete the patching.

[0075] Furthermore, the mounting base 9 is also equipped with a camera 15 connected to a display (not shown in the figure). The camera 15 has a shooting range of the worktable surface and is used to position the material position and angle before picking up the material, and to position the placement position and angle before placement. The image displayed on the display by the camera 15 is the actual placement position of the nozzle of the pick-and-place mechanism 10. When operating this equipment, the operator can accurately grasp whether the position of the pick-and-place mechanism 10 is correct through the display, and adjust the three-axis moving mechanism through the controller to move the specific position of the pick-and-place mechanism 10, so as to accurately pick up or place the accessories.

[0076] Furthermore, the X-axis drive assembly 1, Y-axis drive assembly 3, and Z-axis drive assembly 5 are all linear motors. Existing linear motors have a simple and compact structure, fast response speed, high precision, and can extend the travel distance by increasing the number of stators 02. The mover 01 of the linear motor is connected to the corresponding X-axis robotic arm 2, Y-axis robotic arm 4, and Z-axis robotic arm 6. The stator 02 of the linear motor is fixed to the worktable. By energizing the stator 02, electromagnetic thrust can be generated, and the mover 01 can drive the robotic arm to generate high-speed, high-thrust drive. At the same time, since there is no relative friction between the stator 02 and the mover 01, there is no wear, resulting in a longer service life.

[0077] Furthermore, the linear motor includes a grating ruler 03 and an encoder 04, the encoder 04 being used to read the grating count of the grating ruler 03. After receiving a pulse signal from the controller, the linear motor amplifies the signal and transmits it to the mover 01 of the linear motor, which moves a distance according to the received pulse signal. At this time, the encoder 04 reads the number of gratings passed on the grating ruler 03 and feeds it back to the controller to ensure that the robotic arm's movement distance is accurate.

[0078] The three-axis moving mechanism also includes an origin position sensor 05 located outside the stator 02 of the linear motor. The origin position sensor 05 is located on one side of the stator 02 along its length. The robotic arm is equipped with a metal sensing unit 06 that works in conjunction with the origin position sensor 05. Specifically, when the robotic arm, equipped with the metal sensing unit 06, moves to the origin position sensor 05, the controller receives a corresponding signal. This signal indicates that the position information of the linear motor has returned to zero, i.e., it has returned to its initial position. If the linear drive device needs to move subsequently, the controller sends a corresponding pulse signal to the mover 01 to achieve movement to the accurate position.

[0079] Furthermore, to allow the three-axis moving mechanism a wider range of motion on the worktable, the drive distance of the X-axis drive assembly 1, Y-axis drive assembly 3, and Z-axis drive assembly 5 can be extended by increasing the number of linear motor stators 02. When the X-axis drive assembly 1 is longer, to ensure a wider range of motion for the three-axis moving mechanism, the first X-axis guide rail 41 and the second X-axis guide rail 61 should also be considerably longer than the X-axis drive assembly, so that each part of the three-axis moving mechanism can move within the range covered by the linear motor. Therefore, to ensure smoother and more stable overall execution of the three-axis moving mechanism, a Y-axis auxiliary guide rail 16 and a Z-axis auxiliary guide rail 17 are provided on the worktable. The end of the Y-axis robotic arm 4 away from the mover 01 is slidably connected to the Y-axis auxiliary guide rail 16, and the end of the Z-axis robotic arm 6 away from the mover 01 is slidably connected to the Z-axis auxiliary guide rail 17. This ensures that both ends of the Y-axis robotic arm 4 and the Z-axis robotic arm 6 have corresponding auxiliary supports, reducing the impact of the robotic arm's excessive mass on the response efficiency of the three-axis moving mechanism. It also ensures that both ends of the Y-axis robotic arm 4 and the Z-axis robotic arm 6 can move along the corresponding guide rails, ensuring the accuracy of the actuator's movement and overall stability.

[0080] Furthermore, due to the outstanding advantages of aerospace aluminum material, such as light weight and resistance to deformation, using aerospace aluminum as the material for manufacturing X-axis robotic arm 2, Y-axis robotic arm 4, Z-axis robotic arm 6, XY-axis follower stage 7, XZ-axis follower 8 and mounting base 9, Y-axis auxiliary guide rail 16 and Z-axis auxiliary guide rail 17 can reduce the overall weight of the three-axis moving mechanism and further improve the moving speed and response speed of the three-axis moving mechanism.

[0081] The technical principles of the present invention have been described above with reference to specific embodiments. These descriptions are merely for explaining the principles of the invention and should not be construed as limiting the scope of protection of the invention in any way. Based on this explanation, those skilled in the art can readily conceive of other specific embodiments of the invention without inventive effort, and these embodiments will all fall within the scope of protection of the present invention.

Claims

1. A high-efficiency intelligent power module mounting device, characterized in that: It includes a worktable, a three-axis moving mechanism, a pick-and-place mechanism, a transfer track, and a controller, wherein the three-axis moving mechanism, the pick-and-place mechanism, and the transfer track are electrically connected to the controller. The three-axis moving mechanism includes an X-axis drive assembly, an X-axis robotic arm, a Y-axis drive assembly, a Y-axis robotic arm, a Z-axis drive assembly, a Z-axis robotic arm, an XY-axis following stage, an XZ-axis following component, and a mounting base; The X-axis drive assembly and Y-axis drive assembly are respectively mounted on the table surface of the worktable, and the Z-axis drive assembly is vertically fixed to the table surface of the worktable; the X-axis drive assembly is movably mounted with the X-axis robotic arm, and the X-axis drive assembly is used to drive the X-axis robotic arm to reciprocate along the X direction; the Y-axis drive assembly is movably mounted with the Y-axis robotic arm, and the Y-axis drive assembly is used to drive the Y-axis robotic arm to reciprocate along the Y direction; the Z-axis drive assembly is movably mounted with the Z-axis robotic arm, and the Z-axis drive assembly is used to drive the Z-axis robotic arm to reciprocate along the Z direction. The X-axis robotic arm is provided with a Y-axis guide rail, the Y-axis robotic arm is provided with a first X-axis guide rail, and the Z-axis robotic arm is provided with a second X-axis guide rail. The XY-direction following stage is slidably connected to the Y-direction guide rail and the first X-direction guide rail respectively, and the XY-direction following stage is provided with a Z-direction guide rail; The XZ-direction follower is slidably connected to the second X-direction guide rail, the XZ-direction follower is fixed with the mounting base, the mounting base is slidably connected to the Z-direction guide rail, and the mounting base is detachably connected to the pick-and-place mechanism. The transmission rails are located on the workbench surface, and there are at least two sets of transmission rails.

2. The intelligent power module high-efficiency mounting equipment according to claim 1, characterized in that: The transmission track includes an outer track and an inner track that are parallel to each other. The outer track and the inner track have the same structure and their vertical cross-section is an inverted L-shaped structure. The outer track and the inner track are set at right angles to each other. The outer track and the inner track are respectively provided with a first pulley and a second pulley at both ends along the length direction. The first pulley and the second pulley are wrapped with belts. The rotating shaft of the first motor is connected to the two first pulleys at the same end. The first motor is electrically connected to the controller.

3. The intelligent power module high-efficiency mounting equipment according to claim 2, characterized in that: The transmission track is mounted on the workbench surface via track brackets; there are two track brackets, located at both ends of the transmission track, and the length direction of the track brackets is perpendicular to the length direction of the transmission track. The track support is provided with guide rails, and the outer track and the inner track are respectively provided with sliding grooves that can slide on the guide rails 1; The track support is also equipped with a lead screw driven by a second motor. The inner track of the transmission track is equipped with a lead screw connecting seat that is movably connected to the lead screw. The second motor is electrically connected to the controller. One set of lead screw connecting seats for the transmission rails is connected to the lead screw of the rail bracket at one end, and the other set of lead screw connecting seats for the transmission rails is connected to the lead screw of the rail bracket at the other end.

4. A high-efficiency intelligent power module mounting device according to any one of claims 1-3, characterized in that: The pick-and-place mechanism includes a nozzle base and a patch nozzle rod, wherein the patch nozzle rod is detachably mounted to the mounting base via the nozzle base; The nozzle base includes a vertical base and a horizontal base. The horizontal base of the nozzle base is provided with a through mounting hole. The vertical base is provided with a limiting groove on the side facing the mounting hole. Limiting bosses are provided on both sides of the mounting hole of the horizontal base of the nozzle base. The height direction of the limiting bosses is parallel to the vertical direction. The upper surface of the limiting bosses is provided with limiting holes that extend vertically downwards. The upper end of the patch suction rod is fixed with a limiting part, which consists of left and right limiting members and front and rear limiting bosses; the horizontal cross-section of the left and right limiting members is approximately T-shaped, and the bottom of the left and right limiting members is integrally formed with two limiting rods corresponding to the limiting holes of the limiting bosses; the front and rear limiting bosses are fixed to the rear of the left and right limiting members, and the front and rear limiting bosses cooperate with the limiting grooves; A contact sensor is provided at the position where the nozzle base and the limiting part are in relative contact, and the contact sensor is electrically connected to the controller.

5. The intelligent power module high-efficiency mounting equipment according to claim 4, characterized in that: The mounting base is also equipped with a camera, which is electrically connected to the monitor, and the camera's field of view is the workbench surface.

6. The intelligent power module high-efficiency mounting equipment according to claim 1, characterized in that: The X-axis drive assembly, Y-axis drive assembly, and Z-axis drive assembly are all linear motors. The mover of the linear motor is connected to the corresponding X-axis robotic arm, Y-axis robotic arm, and Z-axis robotic arm, and the stator of the linear motor is fixed to the worktable. The linear motor is electrically connected to the controller.

7. The intelligent power module high-efficiency mounting equipment according to claim 6, characterized in that: The linear motor includes a grating ruler and an encoder, the encoder being used to read the grating number of the grating ruler; The linear motor has an origin position sensor on its outside stator, which is located on one side of the stator along its length. The robotic arm has a metal sensing part that works in conjunction with the origin position sensor.

8. The intelligent power module high-efficiency mounting equipment according to claim 1, characterized in that: It also includes a Y-axis auxiliary guide rail and a Z-axis auxiliary guide rail fixed to the worktable respectively. The end of the Y-axis robotic arm away from the mover is slidably connected to the Y-axis auxiliary guide rail, and the Y-axis robotic arm can slide on the Y-axis auxiliary guide rail. The end of the Z-axis robotic arm away from the mover is slidably connected to the Z-axis auxiliary guide rail, and the Z-axis robotic arm can slide on the Z-axis auxiliary guide rail.

9. The intelligent power module high-efficiency mounting equipment according to claim 8, characterized in that: The X-axis robotic arm, Y-axis robotic arm, Z-axis robotic arm, XY-axis following platform, XZ-axis following component and mounting base, Y-axis auxiliary guide rail and Z-axis auxiliary guide rail are all made of aerospace aluminum material.

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