An IGBT secondary welding assembly device

Abstract

The application discloses an IGBT secondary welding assembly equipment, which comprises a DBC tin paste station, a soldering sheet, a DBC pasting station, a pin inserting station, a pin mold assembling station, a welding furnace, a pin mold and positioning frame disassembling station and a product disc replacing station; after a DBC plate enters the DBC tin paste station, tin paste is applied to the DBC plate, and the DBC plate with the applied tin paste enters the soldering sheet and the DBC pasting station. The IGBT secondary welding assembly equipment comprises seven modularized design stations, namely, the DBC tin paste station, the soldering sheet, the DBC pasting station, the pin inserting station, the pin mold assembling station, the welding furnace, the pin mold and positioning frame disassembling station and the product disc replacing station, each process station is an independent station equipment, the function station can be added or deleted according to different process requirements of different customers, the customized change is realized quickly and effectively, and the customized requirements of different customers are satisfied quickly and efficiently.

Description

Technical Field

[0001] This invention relates to the field of IGBT welding, and in particular to an IGBT secondary welding and assembly equipment. Background Technology

[0002] Currently, the commonly used secondary welding technologies for IGBTs are mainly divided into substrate + solder pad + DBC welding and substrate + solder pad + DBC + integrated pin welding. The corresponding fully automated secondary welding assembly equipment is designed and manufactured by Infotech and by relevant domestic manufacturers. Infotech's secondary welding assembly equipment can realize substrate + solder pad + DBC welding, but it has not yet integrated the assembly and welding function of integrated pin, which cannot meet the customized needs of customers. Although the secondary welding assembly equipment designed and manufactured by relevant domestic manufacturers can realize substrate + solder pad + DBC + integrated pin welding, its overall process layout is only suitable for single-machine equipment and cannot be integrated into the production line to meet the automated material flow of the whole plant. Moreover, the overall layout of the equipment is not modular, which cannot quickly and efficiently meet the customized needs of different customers. Summary of the Invention

[0003] The main objective of this invention is to propose an IGBT secondary welding assembly equipment, which aims to solve the problems that existing IGBT secondary welding assembly equipment, which can realize the welding of substrate + solder pad + DBC + integrated pin, cannot be integrated into the production line to meet the automated material flow of the whole plant equipment, and cannot quickly and efficiently meet the customized needs of different customers.

[0004] To address the aforementioned issues, this invention proposes an IGBT secondary welding assembly equipment, comprising a DBC solder paste application station, solder pads, a DBC mounting station, a pin insertion station, a pin die assembly station, a welding furnace, a pin die removal and positioning frame assembly station, and a product tray changing station.

[0005] After the DBC board enters the DBC solder paste application station, it is soldered. After the solder paste is applied, the DBC board enters the solder pad and DBC mounting station. The pin mold, positioning frame, and substrate enter the DBC solder paste application station and are then sent to the solder pad and DBC mounting station.

[0006] The substrates entering the solder pad and DBC mounting station are successively fitted with solder pads and DBC boards. After the solder pads and DBC boards are fitted, the substrates, along with the pin mold and positioning frame, are sent to the pin insertion station.

[0007] After the pin mold enters the pin insertion station, it is first filled with integrated pins, and then sent to the pin mold assembly station along with the substrate and positioning frame.

[0008] After the needle die enters the needle die assembly station, it is assembled onto the positioning frame, thus completing the assembly before the I GBT secondary welding. After the I GBT is assembled, it is sent to the welding furnace for secondary welding. After welding, the I GBT enters the needle die removal and positioning frame assembly station.

[0009] In the die removal and positioning frame assembly station, the die and positioning frame on the I GBT are removed, and the new substrate is sent to the die removal and positioning frame assembly station. Then the die, positioning frame and substrate are sent to the product change station along with the I GBT.

[0010] In the product repacking station, the pin mold, positioning frame, and substrate are reassembled onto the soldering tray, and then sent back to the DBC solder paste station after assembly.

[0011] In one embodiment, the DBC solder paste application station includes a chassis and a DBC tray conveyor line, a lifting mechanism, a three-axis translation mechanism, a three-axis translation mechanism, a die delivery line, and an NG material station, all mounted on the chassis.

[0012] The DBC pallet conveyor line is equipped with a DBC pallet limiting device 1 and a DBC pallet limiting device 2.

[0013] The lifting mechanism is equipped with a welding pallet conveyor line.

[0014] The three-axis translation mechanism is equipped with an upper vision positioning device and a dispensing device. After the DBC tray conveyed by the DBC tray conveyor line is stopped by the DBC tray limiting device, the three-axis translation mechanism, guided by the upper vision positioning device, drives the dispensing device to the DBC tray to apply solder paste to the DBC board on the DBC tray. After the solder paste is applied to the DBC board, the DBC tray conveyor line continues to convey the DBC tray until the DBC tray is stopped by the DBC tray limiting device.

[0015] The three-axis translation mechanism 2 is equipped with an upper vision inspection device 1, a DBC chuck 1, and a needle mold robot 1. After the DBC tray is stopped by the DBC tray limiting device 2, the three-axis translation mechanism 2 drives the upper vision inspection device 1 to move directly above the DBC tray to perform visual inspection on the DBC board to determine whether the solder paste dots on the DBC board are qualified. If they are not qualified, the three-axis translation mechanism 2 drives the DBC chuck 1 to pick up the unqualified DBC board and send it to the NG material station.

[0016] The soldering trays sent from the solder pad and DBC mounting station to the solder paste station are located on soldering tray conveyor line one. The soldering trays have substrates, pin molds, and positioning frames. The lifting mechanism one can drive the soldering tray conveyor line one to rise to a high working position and fall to a low working position. The three-axis translation mechanism two can drive the pin mold robot one to the soldering tray conveyor line one at the high working position to grab the pin molds on the soldering trays and send the pin molds to the pin mold conveyor line one.

[0017] In one embodiment, the solder sheet and DBC mounting station includes a chassis 2 and a DBC pallet conveyor line 2, a welding pallet conveyor line 2, a die-making conveyor line 2, a solder sheet storage rack, a three-axis translation mechanism 3, a three-axis translation mechanism 4, an empty DBC pallet stack conveyor line, a welding pallet return conveyor line 6, a lower vision positioning device 1, and a lower vision positioning device 2, all mounted on the chassis 2.

[0018] The three-axis translation mechanism three is equipped with an upper vision positioning device two and a welding sheet suction cup;

[0019] The second welding pallet conveyor line is connected to the first welding pallet conveyor line at the high working position. The second welding pallet conveyor line is equipped with a first welding pallet limiting device and a second welding pallet limiting device. When the welding pallet on the first welding pallet conveyor line at the high working position enters the second welding pallet conveyor line and is stopped by the first welding pallet limiting device, the third three-axis translation mechanism drives the welding sheet suction cup to the welding sheet storage rack to pick up the welding sheet. After the welding sheet suction cup picks up the welding sheet, it sends the welding sheet to the lower vision positioning device 1 for visual positioning correction. After the correction is completed, the third three-axis translation mechanism, guided by the upper vision positioning device 2, uses the welding sheet suction cup to assemble the welding sheet onto the base plate of the welding pallet. The welding pallet with the assembled welding sheet continues to move along the second welding pallet conveyor line until it is stopped by the second welding pallet limiting device.

[0020] The second DBC pallet conveyor line is connected to the first DBC pallet conveyor line. The second DBC pallet conveyor line is equipped with a DBC pallet lifting, positioning and transverse movement mechanism. When the DBC pallet on the first DBC pallet conveyor line enters the second DBC pallet conveyor line, it is lifted and stopped by the DBC pallet lifting, positioning and transverse movement mechanism.

[0021] The three-axis translation mechanism four is equipped with an upper visual positioning device three and a DBC suction cup two. When the welding tray is stopped by the welding tray limiting device two, the DBC suction cup two, driven by the three-axis translation mechanism four, moves to the DBC tray lifting and positioning transverse movement mechanism to pick up the DBC board on the DBC tray. Then, the DBC board is sent to the lower visual positioning device two for visual positioning correction. After correction, the three-axis translation mechanism four, guided by the upper visual positioning device three, uses the DBC suction cup two to assemble the DBC board onto the base plate of the welding tray. The welding tray with the assembled DBC board continues to move along the welding tray conveyor line two.

[0022] One end of the empty DBC pallet stacking conveyor line is close to the DBC pallet lifting, positioning and traversing mechanism, and this end of the empty DBC pallet stacking conveyor line is equipped with a stacking mechanism. The other end of the empty DBC pallet stacking conveyor line is equipped with an empty DBC pallet stacking lifting device. After all the DBC boards on the DBC pallets on the DBC pallet lifting, positioning and traversing mechanism are sucked away, the DBC pallet lifting, positioning and traversing mechanism drives the DBC pallets to the stacking mechanism. The stacking mechanism stacks the empty DBC pallets to form an empty DBC pallet stack. After the stacking is completed, the empty DBC pallet stacking conveyor line sends the empty DBC pallet stack to the empty DBC pallet stacking lifting device, which lifts the empty DBC pallet stack and separates it from the empty DBC pallet stacking conveyor line.

[0023] The second needle mold conveyor line is connected to the first needle mold conveyor line, and the needle molds on the first needle mold conveyor line can enter the second needle mold conveyor line.

[0024] The welding pallet return conveyor line six is ​​connected to the welding pallet conveyor line one which is in a low working position, and the welding pallets on the welding pallet return conveyor line six can enter the welding pallet conveyor line one which is in a low working position.

[0025] In one embodiment, the three-axis translation mechanism four is further provided with a scanning device one. When the DBC suction cup two picks up the DBC board on the DBC tray, the scanning device one scans the QR code on the DBC tray and the DBC board to realize the information binding between the two. When the DBC suction cup two assembles the DBC board onto the substrate of the welding tray, the scanning device one scans the QR code on the substrate and the DBC board to realize the information binding between the two.

[0026] In one embodiment, the pin insertion station includes a chassis 3 and a welding tray conveyor line 3, a pin die conveyor line 3, a welding tray return conveyor line 5, a pin insertion turret mechanism, a pin die holder 1, a pin insertion detection mechanism, a pin die conveyor line 4, a translation device 1, a translation device 2, a three-axis translation mechanism 5, a vibrating feeding mechanism, and an upper vision positioning device 4.

[0027] The welding pallet conveyor line three is connected to the welding pallet conveyor line two, and the welding pallets on the welding pallet conveyor line two can enter the welding pallet conveyor line three.

[0028] The needle mold conveyor line three is connected to the needle mold conveyor line two. Needle molds on needle mold conveyor line two can enter needle mold conveyor line three. A needle mold limiting device one is provided at the end of needle mold conveyor line three. A needle mold base one is driven and connected to a rotary motor one. A needle mold manipulator two is provided on the three-axis translation mechanism five. When the needle mold is stopped by the needle mold limiting device one, the three-axis translation mechanism five controls the needle mold manipulator two to grasp the needle mold, and then place the needle mold on the needle mold base one. The rotary motor one drives the needle mold base one to rotate 180 degrees. Afterwards, the needle mold... The three-axis translation mechanism five controls the needle mold robot two to grasp the needle mold and transfer the needle mold to the translation device one. The translation device one drives the needle mold into the needle insertion turret mechanism to insert a needle. After the needle insertion is completed, the needle mold is transferred by the needle mold robot two to the translation device two. The translation device two drives the needle mold away from the needle insertion turret mechanism. The three-axis translation mechanism five controls the needle mold robot two to grasp the needle mold on the translation device two and transfer the needle mold to the needle mold conveyor line four for delivery. The needle insertion detection mechanism can detect whether the needle mold on the needle mold conveyor line four is qualified for needle insertion.

[0029] The welding pallet return conveyor line five is connected to the welding pallet return conveyor line six, and the welding pallets on the welding pallet return conveyor line five can enter the welding pallet return conveyor line six.

[0030] In one embodiment, the needle mold assembly station includes a chassis four and a welding pallet conveyor line four, a needle mold insert NG conveyor line, a welding pallet return conveyor line four, a three-axis translation mechanism six, a needle mold base two, a lower vision positioning device three, a needle mold loading conveyor line, and a needle mold unloading conveyor line.

[0031] The welding pallet conveyor line four is connected to the welding pallet conveyor line three. The welding pallets on the welding pallet conveyor line three can enter the welding pallet conveyor line four. Welding pallet limiting device three and welding pallet limiting device four are respectively set at both ends of the welding pallet conveyor line four. When the welding pallet moves along the welding pallet conveyor line four toward the welding furnace, it can be limited and stopped by the welding pallet limiting device three. When the welding pallet moves along the welding pallet conveyor line four away from the welding furnace, it can be limited and stopped by the welding pallet limiting device four.

[0032] The needle mold holder 2 is driven by a rotary motor 3. The three-axis translation mechanism 6 is equipped with an upper visual positioning device 5 and a needle mold robot 3. The three-axis translation mechanism 6 controls the needle mold robot 3 to grasp the defective needle molds on the needle mold conveyor line 4 and transfer them to the NG needle conveyor line for removal. The three-axis translation mechanism 6 controls the needle mold robot 3 to grasp the qualified needle molds on the needle mold conveyor line 4 and transfer them to the needle mold holder 2. The rotary motor 3 drives the needle mold holder 2 to rotate 180 degrees. Then, the needle mold robot 3 transfers the needle molds on the needle mold holder 2 to the lower visual positioning device 3 for visual positioning correction. After correction, the three-axis translation mechanism 6... Guided by the upper vision positioning device 5, the transfer mechanism 6 uses the needle mold robot 3 to assemble the needle mold onto the base plate of the welding tray, which is stopped by the welding tray limiting device 3. After assembly, the upper vision positioning device 5 checks the needle mold assembly. If the needle mold assembly is found to be unqualified, the welding tray will be stopped after entering the welding furnace. After the unqualified needle mold is manually removed, the welding tray returns to the welding tray conveyor line 4 and is stopped by the welding tray limiting device 4. The upper vision positioning device 5 checks the needle mold assembly on the welding tray again. If the needle mold assembly is found to be qualified, the welding tray is sent back into the welding furnace by the welding tray conveyor line 4.

[0033] Both the needle mold feeding conveyor line and the needle mold unloading conveyor line are equipped with needle mold storage racks. The three-axis translation mechanism can control the needle mold robot to grab new needle molds stored on the needle mold storage rack on the needle mold feeding conveyor line and transfer old needle molds from the welding tray to the needle mold storage rack on the needle mold unloading conveyor line to realize needle mold replacement.

[0034] The welding pallet return conveyor line four is connected to the welding pallet return conveyor line five, and the welding pallets on the welding pallet return conveyor line four can enter the welding pallet return conveyor line five.

[0035] In one embodiment, the welding furnace includes a furnace body and a feeding conveyor line and a welding pallet return conveyor line three that run through the furnace body. The feeding conveyor line is connected to a welding pallet conveyor line four. Welding pallets on the welding pallet conveyor line four can enter the feeding conveyor line. A welding pallet limiting device five is provided on the feeding conveyor line. Welding pallets with defective needle die assembly detected by the upper vision positioning device five can be limited and stopped by the welding pallet limiting device five. After the defective needle die assembly I GBT is manually removed, the welding pallet returns to the welding pallet conveyor line four under the drive of the feeding conveyor line until it is limited and stopped by the welding pallet limiting device four. Welding pallets with all qualified needle die assembly can enter the furnace body through the feeding conveyor line for welding.

[0036] The welding pallet return conveyor line three is connected to the welding pallet return conveyor line four, and the welding pallets on the welding pallet return conveyor line three can enter the welding pallet return conveyor line four.

[0037] In one embodiment, the needle mold disassembly and positioning frame assembly station includes a chassis 6 and a welding pallet return conveyor line 2, a substrate pallet conveyor line 1, a welding pallet conveyor line 6, a needle mold conveyor line 6, a positioning frame storage rack, a lower vision positioning device 4, a three-axis translation mechanism 7, and a substrate pallet stacking conveyor line.

[0038] The substrate pallet conveyor line is equipped with a substrate pallet lifting, positioning and transverse movement mechanism. The substrate pallet stack conveyor line is equipped with a destacking mechanism at one end near the substrate pallet lifting, positioning and transverse movement mechanism. The substrate pallet stacks conveyed by the substrate pallet stack conveyor line are destacking into single pallets by the destacking mechanism and then sent into the substrate pallet lifting, positioning and transverse movement mechanism.

[0039] The welding pallet conveyor line six is ​​connected to the feeding conveyor line, I After GBT welding is completed, the welding pallet enters the welding pallet conveyor line 6 via the feeding conveyor line. The welding pallet conveyor line 6 is equipped with a welding pallet limiting device 6. The three-axis translation mechanism 7 is equipped with an upper vision positioning device 6, a positioning frame suction cup, and a needle mold robot 4. When the welding pallet limiting device 6 stops the welding pallet, the three-axis translation mechanism 7 controls the needle mold robot 4 to grab the needle mold on the welding pallet and move the needle mold to the needle mold conveyor line 6 for delivery. After that, the three-axis translation mechanism 7 controls the positioning frame suction cup to pick up the positioning frame on the welding pallet and move the positioning frame to the lower vision positioning device 4 for visual positioning correction. After correction, the three-axis translation mechanism 7, guided by the upper vision positioning device 6, uses the positioning frame suction cup to assemble the positioning frame onto the substrate pallet on the substrate pallet lifting, positioning, and traversing mechanism. The substrate pallet with the positioning frame assembled is moved by the substrate pallet lifting, positioning, and traversing mechanism to the substrate pallet conveyor line 1 for delivery. The welding pallet with the positioning frame removed is then sent away by the welding pallet conveyor line 6.

[0040] When no post-welded IGBTs enter the needle removal mold and positioning frame assembly station, the three-axis translation mechanism 7 can control the positioning frame suction cup to pick up the positioning frame on the positioning frame storage rack and move the positioning frame to the lower vision positioning device 4 for visual positioning correction. After correction, the three-axis translation mechanism 7, guided by the upper vision positioning device 6, uses the positioning frame suction cup to assemble the positioning frame onto the substrate tray on the substrate tray lifting and positioning transverse mechanism. The substrate tray with the positioning frame assembled is then moved by the substrate tray lifting and positioning transverse mechanism to the substrate tray conveyor line 1 and sent away.

[0041] The second welding pallet return conveyor line is connected to the third welding pallet return conveyor line, and the welding pallets on the second welding pallet return conveyor line can enter the third welding pallet return conveyor line.

[0042] In one embodiment, the product pallet changing station includes a chassis 7 and a welding pallet return conveyor line 1, a welding pallet conveyor line 7, a needle mold conveyor line 7, a substrate pallet conveyor line 2, a three-axis translation mechanism 8, a lifting mechanism 2, a three-axis translation mechanism 9, a lower vision positioning device 5, and an NG product unloading conveyor line, all mounted on the chassis 7.

[0043] The welding pallet conveyor line 7 is connected to the welding pallet conveyor line 6. The welding pallets on the welding pallet conveyor line 6 can enter the welding pallet conveyor line 7. The welding pallet conveyor line 7 is equipped with a welding pallet limiting device 7. The three-axis translation mechanism 8 is equipped with an upper vision inspection device 2. When the welding pallet is limited and stopped by the welding pallet limiting device 7, the three-axis translation mechanism 8 controls the upper vision inspection device 2 to move to directly above the welding pallet to inspect the welded IGBT and determine whether the welded IGBT is qualified.

[0044] The lifting mechanism 2 is connected to the welding pallet conveyor line 8. The lifting mechanism 2 can drive the welding pallet conveyor line 8 to rise to a high working position and fall to a low working position. The welding pallet conveyor line 8 at the high working position is connected to the welding pallet conveyor line 7, and the welding pallet conveyor line 8 at the low working position is connected to the welding pallet return conveyor line 1. The welding pallets on the welding pallet conveyor line 7 can enter the welding pallet conveyor line 8 at the high working position, and the welding pallets on the welding pallet conveyor line 8 at the low working position can enter the welding pallet return conveyor line 1. The welding pallet return conveyor line 1 is connected to the welding pallet return conveyor line 2, and the welding pallets on the welding pallet return conveyor line 1 can enter the welding pallet return conveyor line 2.

[0045] The three-axis translation mechanism nine is equipped with an upper vision positioning device seven and a product pallet changing robot. When the welding pallet enters the welding pallet conveyor line eight which is in a high working position, the three-axis translation mechanism nine controls the product pallet changing robot to grab the unqualified I GBT and send it to the NG product unloading conveyor line, thereby creating a cavity on the welding pallet.

[0046] The substrate tray conveyor line 2 is connected to the substrate tray conveyor line 1. The substrate trays on the substrate tray conveyor line 1 can enter the substrate tray conveyor line 2. The substrate tray conveyor line 2 is provided with a substrate tray limiting device 1 and a substrate tray limiting device 2. After the substrate tray enters the substrate tray conveyor line 2, it is first limited and stopped by the substrate tray limiting device 1, and then limited and stopped by the substrate tray limiting device 2.

[0047] When the substrate tray is stopped by the substrate tray limiting device 1, the three-axis translation mechanism 9 controls the product tray changing robot to grab the substrate and positioning frame in the substrate tray and transfer them to the lower vision positioning device 5 for visual positioning correction. After the correction is completed, the three-axis translation mechanism 9, guided by the upper vision positioning device 7, uses the product tray changing robot to assemble the substrate and positioning frame into the cavity of the welding tray. The empty substrate tray continues to move along the substrate tray conveyor line 2 until it is stopped by the substrate tray limiting device 2.

[0048] The needle mold conveying line 7 is connected to the needle mold conveying line 6. The needle molds on the needle mold conveying line 6 can enter the needle mold conveying line 7. The needle mold conveying line 7 is equipped with a needle mold limiting device 2. When the needle mold is stopped by the needle mold limiting device 2, the three-axis translation mechanism 9 controls the product changing robot to grab the needle mold and move it to the lower vision positioning device 5 for visual positioning correction. After the correction is completed, the three-axis translation mechanism 9, guided by the upper vision positioning device 7, uses the product changing robot to assemble the needle mold onto the base plate of the welding tray.

[0049] The three-axis translation mechanism nine controls the product pallet changing robot to grab qualified IGBTs and send them to an empty substrate pallet that is stopped by the substrate pallet limiting device two. After the empty substrate pallet is filled with IGBTs, it is sent away by the substrate pallet conveyor line two.

[0050] After the welding pallet on the high-working-position welding pallet conveyor line 8 is assembled with the substrate, positioning frame and needle mold, it is lowered to the low-working-position and transferred to the welding pallet return conveyor line 1.

[0051] Beneficial effects:

[0052] 1. The IGBT secondary welding assembly equipment of the present invention consists of seven modularly designed workstations: DBC solder paste application station, solder pad, DBC mounting station, pin insertion station, pin mold assembly station, welding furnace, pin mold removal and positioning frame assembly station, and product tray changing station. Each process station is an independent workstation equipment. Functional workstations can be added or removed according to different customer process requirements, so as to realize rapid and effective customization changes and quickly and efficiently meet the customized needs of different customers.

[0053] 2. The IGBT secondary welding and assembly equipment of the present invention can realize the functions of automatic loading and unloading, automatic assembly, welding, and automatic return of tooling fixtures for IGBTs. Moreover, it can interact with the whole plant system, and the status of IGBT products can be viewed at any time. The data can be traced and analyzed manually.

[0054] 3. The IGBT secondary welding and assembly equipment of the present invention is compatible with the whole plant data interaction function. It can be operated as a single machine independent workstation, or it can be added with MES / EAP to realize the whole plant connected production operation. The IGBT secondary welding and assembly equipment can be integrated into the production line to meet the automated material flow of the whole plant equipment. Attached Figure Description

[0055] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0056] Figure 1 This is a schematic diagram of the structure of a GBT secondary welding and assembly equipment according to the present invention;

[0057] Figure 2 This is a schematic diagram of the structure of the DBC solder paste station of the present invention. Figure 1 ;

[0058] Figure 3 This is a schematic diagram of the structure of the DBC solder paste station of the present invention. Figure 2 ;

[0059] Figure 4 This is a schematic diagram of the structure of the DBC solder paste station of the present invention. Figure 3 ;

[0060] Figure 5 This is a schematic diagram of the structure of the DBC solder paste station of the present invention. Figure 4 ;

[0061] Figure 6 This is a schematic diagram of the structure of the solder pad and DBC mounting station of the present invention. Figure 1 ;

[0062] Figure 7 This is a schematic diagram of the structure of the solder pad and DBC mounting station of the present invention. Figure 2 ;

[0063] Figure 8 This is a schematic diagram of the pin insertion station of the present invention. Figure 1 ;

[0064] Figure 9 This is a schematic diagram of the pin insertion station of the present invention. Figure 2 ;

[0065] Figure 10 This is a schematic diagram of the pin insertion station of the present invention. Figure 3 ;

[0066] Figure 11This is a schematic diagram of the structure of the needle mold assembly station of the present invention. Figure 1 ;

[0067] Figure 12 This is a schematic diagram of the structure of the needle mold assembly station of the present invention. Figure 2 ;

[0068] Figure 13 This is a schematic diagram of the structure of the needle mold assembly station of the present invention. Figure 3 ;

[0069] Figure 14 This is a schematic diagram of the welding furnace of the present invention;

[0070] Figure 15 This is a schematic diagram of the structure of the assembly station for disassembling the needle mold and positioning frame of the present invention. Figure 1 ;

[0071] Figure 16 This is a schematic diagram of the structure of the assembly station for disassembling the needle mold and positioning frame of the present invention. Figure 2 ;

[0072] Figure 17 This is a schematic diagram of the structure of the assembly station for disassembling the needle mold and positioning frame of the present invention. Figure 3 ;

[0073] Figure 18 This is a schematic diagram of the structure of the reel changing station of the present invention. Figure 1 ;

[0074] Figure 19 This is a schematic diagram of the structure of the reel changing station of the present invention. Figure 2 ;

[0075] Figure 20 This is a schematic diagram of the structure of the reel changing station of the present invention. Figure 3 .

[0076] The annotations in the attached figures are explained as follows:

[0077] 1. DBC solder paste application station; 101. Chassis 1; 102. DBC tray conveyor line 1; 103. DBC tray limiting device 1; 104. DBC tray limiting device 2; 105. Three-axis translation mechanism 1; 106. Upper vision positioning device 1; 107. Dispensing device; 108. Three-axis translation mechanism 2; 109. Upper vision inspection device 1; 110. DBC suction cup 1; 111. NG material station; 113. Lifting mechanism 1; 114. Soldering tray conveyor line 1; 116. Needle mold robot 1; 118. Needle mold conveyor line 1; 119. Feed port;

[0078] 2. Soldering Piece and DBC Placement Station; 201. Chassis II; 202. DBC Pallet Conveyor Line II; 203. Welding Pallet Conveyor Line II; 204. Needle Die Conveyor Line II; 205. Soldering Piece Storage Rack; 208. Three-Axis Translation Mechanism III; 209. Upper Vision Positioning Device II; 210. Soldering Piece Suction Cup; 211. Lower Vision Positioning Device I; 213. Three-Axis Translation Mechanism IV; 214. Upper Vision Positioning Device III; 215. DBC Suction Cup 216. Scanning Device 1; 217. Lower Vision Positioning Device 2; 218. Welding Pallet Limiting Device 2; 219. Welding Pallet Limiting Device 1; 220. DBC Pallet Lifting, Positioning, and Lateral Movement Mechanism; 221. Support Plate 1; 222. Empty DBC Pallet Stack; 223. Lifting Device 1; 224. Empty DBC Pallet Stack Conveyor Line; 225. Empty DBC Pallet Stack Lifting Device; 226. Welding Pallet Return Conveyor Line 6;

[0079] 3. Pin insertion station; 301. Chassis 3; 302. Welding pallet conveyor line 3; 303. Pin die conveyor line 3; 304. Welding pallet return conveyor line 5; 305. Pin die limiting device 1; 306. Three-axis translation mechanism 5; 307. Pin die robot 2; 308. Pin die holder 1; 309. Rotary motor 1; 310. Translation device 1; 311. Pin insertion turret; 312. Vibratory feeder; 313. 314. Integrated needle clamping device; 315. Integrated needle feeding device; 316. Pushing device one; 317. Integrated needle correction station; 318. Lower vision inspection device one; 319. NG integrated needle throwing tube; 320. Needle insertion station; 321. Upper vision positioning device four; 322. Pushing device two; 323. Rotary motor two; 324. Translation device two; 325. Needle mold conveying line four; 326. Needle insertion detection mechanism;

[0080] 4. Needle mold assembly station; 401. Chassis 4; 402. Welding pallet conveyor line 4; 403. Needle mold pin insertion NG conveyor line; 404. Welding pallet return conveyor line 4; 405. Welding pallet limiting device 3; 406. Three-axis translation mechanism 6; 407. Upper vision positioning device 5; 408. Needle mold robot 3; 409. Needle mold base 2; 410. Rotary motor 3; 411. Lower vision positioning device 3; 412. Welding pallet limiting device 4; 413. Needle mold loading conveyor line; 414. Needle mold unloading conveyor line; 415. Needle mold storage rack;

[0081] 5. Welding furnace; 51. Feeding conveyor line; 52. Welding pallet limiting device five; 54. Welding pallet return conveyor line three; 55. Furnace body;

[0082] 6. Needle mold disassembly and positioning frame assembly station; 601. Chassis 6; 602. Welding pallet return conveyor line 2; 603. Substrate pallet conveyor line 1; 604. Welding pallet conveyor line 6; 605. Needle mold conveyor line 6; 606. Positioning frame storage rack; 607. Lower vision positioning device 4; 608. Three-axis translation mechanism 7; 609. Upper vision positioning device 6; 610. Positioning frame suction cup; 612. Substrate pallet lifting, positioning and transverse movement mechanism; 613. Substrate pallet stacking conveyor line; 614. Substrate pallet stack; 615. Welding pallet limiting device 6; 616. Needle mold robot 4;

[0083] 7. Product pallet changing station; 701. Chassis 7; 702. Welding pallet return conveyor line 1; 703. Welding pallet conveyor line 7; 704. Needle mold conveyor line 7; 705. Substrate pallet conveyor line 2; 706. Welding pallet limiting device 7; 707. Three-axis translation mechanism 8; 708. Upper vision inspection device 2; 709. Lifting mechanism 2; 710. Welding pallet conveyor line 8; 711. Three-axis translation mechanism 9; 712. Upper vision positioning device 7; 713. Product pallet changing robot; 714. Lower vision positioning device 5; 715. Needle mold limiting device 2; 716. Substrate pallet limiting device 1; 717. Substrate pallet limiting device 2; 718. NG product unloading conveyor line. Detailed Implementation

[0084] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0085] It should be noted that if the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0086] In this invention, unless otherwise explicitly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0087] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the meaning of "and / or" throughout the text includes three parallel solutions; for example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0088] This invention proposes an IGBT secondary soldering assembly equipment, which consists of seven modularly designed workstations: a DBC solder paste application station 1, a solder pad and DBC mounting station 2, a pin insertion station 3, a pin die assembly station 4, a soldering furnace 5, a pin die removal and positioning frame assembly station 6, and a product tray changing station 7. Each process station is an independent workstation, which can not only be integrated into the production line to meet the automated material flow of the entire plant, but also add or remove functional workstations according to different customer process requirements, so as to achieve rapid and effective customization changes and quickly and efficiently meet the customized needs of different customers.

[0089] Specifically, in one embodiment of the invention, such as Figure 1 As shown, the IGBT secondary soldering assembly equipment includes a DBC solder paste application station 1, a solder pad and DBC mounting station 2, a pin insertion station 3, a pin die assembly station 4, a soldering furnace 5, a pin die removal and positioning frame assembly station 6, and a product tray changing station 7. Each station is divided according to the process, and each station has relatively independent functions. It can be compatible with the secondary soldering needs of both pin insertion and non-pin insertion processes. At the same time, the layout of the entire line can meet both in-line production and offline production. Functional stations can be added or removed according to different customer process requirements, so as to achieve rapid and effective customization changes and quickly and efficiently meet the customized needs of different customers.

[0090] In this embodiment, after the DBC board enters the DBC solder paste application station 1, solder paste is applied to it. After solder paste application, the DBC board enters the solder pad and DBC mounting station 2. The die, positioning frame, and substrate, after entering the DBC solder paste application station 1, are sent to the solder pad and DBC mounting station 2. Specifically, as follows... Figures 2-5As shown, the DBC solder paste station 1 includes a chassis 101 and a DBC tray conveyor line 102, a lifting mechanism 113, a three-axis translation mechanism 105, a three-axis translation mechanism 108, a die conveyor line 118, and an NG material station 111, all mounted on the chassis 101. The DBC tray conveyor line 102 is a belt conveyor used to transport DBC trays. Each DBC tray contains multiple DBC boards. The DBC tray conveyor line 102 is equipped with a DBC tray limiting device 103 and a DBC tray limiting device 104. Both the DBC tray limiting device 103 and the DBC tray limiting device 104 include a stop and a lifting device. The lifting device is fixedly connected to the chassis 101. The stop rises under the action of the lifting device to prevent the DBC tray from continuing to move along the DBC tray conveyor line 102. After the stop falls and resets, the DBC tray can continue to move along the DBC tray conveyor line 102.

[0091] In this embodiment, as Figures 2-5 As shown, the three-axis translation mechanism 105 is equipped with an upper visual positioning device 106 and a dispensing device 107. The upper visual positioning device 106 is used for visual positioning of the DBC board, and the dispensing device 107 is used for dispensing solder paste onto the DBC board. The dispensing device 107 can move along the XYZ axes under the drive of the three-axis translation mechanism 105, and the upper visual positioning device 106 can move along the XY axes under the drive of the three-axis translation mechanism 105. The DBC support... After the DBC tray conveyed by tray conveyor line 102 is stopped by DBC tray limiting device 103, the three-axis translation mechanism 105, guided by the upper vision positioning device 106, drives the dispensing device 107 to the DBC tray to apply solder paste to the DBC board on the DBC tray. After the solder paste is applied to the DBC board, the DBC tray conveyor line 102 continues to move the DBC tray until the DBC tray is stopped by DBC tray limiting device 104.

[0092] In this embodiment, as Figures 2-5As shown, the three-axis translation mechanism 2 108 is equipped with an upper vision inspection device 109, a DBC chuck 110, and a needle mold robot 116. The upper vision inspection device 109 is used to visually inspect the DBC board to determine whether the solder paste dots on the DBC board are qualified. The DBC chuck 110 is used to pick up the DBC board, and the needle mold robot 116 is used to grip the needle mold. The DBC chuck 110 and the needle mold robot 116 can move along the XYZ axes under the drive of the three-axis translation mechanism 2 108. The upper vision inspection device 109 can move along the XY axes under the drive of the three-axis translation mechanism 2 108. After the DBC tray is stopped by the DBC tray limiting device 2 104 after solder paste application, the three-axis translation mechanism 2 108... The moving vision inspection device 109 moves to directly above the DBC tray to perform visual inspection on the DBC board to determine whether the solder paste dots on the DBC board are qualified. This includes visually inspecting whether the diameter and position of the solder paste dots on the DBC board in the DBC tray are correct. If the visual inspection finds that the solder paste dots on the DBC board are unqualified, the three-axis translation mechanism 108 drives the DBC suction cup 110 to pick up the unqualified DBC board and send it to the NG material station 111. The unqualified DBC boards are stacked in the NG material station 111. After the NG material station 111 is full, it is manually cleaned. The qualified DBC boards remain in the DBC tray. After the unqualified DBC boards in the DBC tray are removed, the DBC tray conveyor line 102 sends the DBC tray to the solder pad and DBC mounting station 2.

[0093] In this embodiment, as Figures 2-5 As shown, the lifting mechanism 113 is equipped with a welding pallet conveyor line 114, which is a belt conveyor used to transport welding pallets. The welding pallet conveyor line 114 is horizontally arranged. The lifting mechanism 113 can drive the welding pallet conveyor line 114 to rise to a high working position and descend to a low working position. There are multiple welding pallets on the welding pallet conveyor line 114, and each welding pallet contains multiple sets of tooling fixtures for secondary welding of IGBTs, including substrates, pin molds, etc. When the welding pallet conveyor line 114 is in the high working position, the three-axis translation mechanism 108 drives the needle mold robot arm 116 to the welding pallet conveyor line 114 in the high working position to grab the needle mold in the welding pallet and send the needle mold to the needle mold conveyor line 118. The needle mold is then sent to the welding sheet and DBC mounting station 2 via the needle mold conveyor line 118. After all the needle molds in the welding pallet are removed, the welding pallet conveyor line 114 sends the welding pallet to the welding sheet and DBC mounting station 2.

[0094] In this embodiment, the substrate entering the solder pad and DBC mounting station 2 is sequentially fitted with solder pads and DBC boards. After the solder pads and DBC boards are fitted, the substrate, along with the pin mold and positioning frame, is sent to the pin insertion station 3. Specifically, as follows... Figure 6 and Figure 7 As shown, the solder sheet and DBC mounting station 2 includes a chassis 201 and a DBC pallet conveyor line 202, a welding pallet conveyor line 203, a die-casting line 204, a solder sheet storage rack 205, a three-axis translation mechanism 208, a three-axis translation mechanism 213, an empty DBC pallet stack conveyor line 224, a welding pallet return conveyor line 226, a lower vision positioning device 211, and a lower vision positioning device 217, all mounted on the chassis 201. The three-axis translation mechanism 208 is equipped with an upper visual positioning device 209 and a welding sheet suction cup 210. The welding sheet suction cup 210 is used to pick up welding sheets, and the upper visual positioning device 209 is used to visually position the welding sheets. The welding sheet suction cup 210 can move along the XYZ axes under the drive of the three-axis translation mechanism 208 and can rotate around Z. The upper visual positioning device 209 can move along the XY axes under the drive of the three-axis translation mechanism 208.

[0095] In this embodiment, as Figure 6 and Figure 7 As shown, the welding pallet conveyor line 203 is connected to the welding pallet conveyor line 114 at the high working position. The welding pallets on the welding pallet conveyor line 114 at the high working position are sent to the welding pallet conveyor line 203 after the needle die is removed. The welding pallet conveyor line 203 is a belt conveyor used to transport welding pallets. The welding pallet conveyor line 203 is equipped with welding pallet limiting device 1219 and welding pallet limiting device 218. The welding pallet limiting device 1219 and welding pallet limiting device 218 are used to stop the welding pallets. The structure of the welding pallet limiting device 1219 and welding pallet limiting device 218 is the same as that of the DBC pallet limiting device 103.

[0096] In this embodiment, as Figure 6 and Figure 7As shown, after the welding pallet enters the welding pallet conveyor line 203, it is first stopped by the welding pallet limiting device 219, and then stopped by the welding pallet limiting device 218. When the welding pallet is stopped by the welding pallet limiting device 219, the three-axis translation mechanism 208 drives the welding sheet suction cup 210 to the welding sheet storage rack 205 to pick up the welding sheet. The welding sheet storage rack 205 stores multiple stacked welding sheets. After the welding sheet suction cup 210 picks up the welding sheet, it first sends the welding sheet to the lower vision positioning device 211, which then... 1. Visual positioning of the welding piece is performed, and the welding piece suction cup 210 rotates around Z to correct the orientation of the welding piece. After correction, the three-axis translation mechanism 208, under the visual positioning guidance of the upper visual positioning device 209, controls the welding piece suction cup 210 to assemble the welding piece onto the substrate of the welding tray that is limited and stopped by the welding tray limiting device 219. After all the substrates in the entire welding tray are equipped with welding pieces, the welding tray conveyor line 203 drives the welding tray to continue moving until the welding tray is limited and stopped by the welding tray limiting device 218.

[0097] In this embodiment, as Figure 6 and Figure 7 As shown, the second DBC pallet conveyor line 202 is connected to the first DBC pallet conveyor line 102 and is used to transport DBC pallets. The structure of the second DBC pallet conveyor line 202 is the same as that of the first DBC pallet conveyor line 102. The DBC pallets transported from the first DBC pallet conveyor line 102 enter the second DBC pallet conveyor line 202. The second DBC pallet conveyor line 202 is equipped with a DBC pallet lifting, positioning and transverse movement mechanism 220. The DBC pallet lifting, positioning and transverse movement mechanism 220 includes a lifting device and a belt conveyor mounted on the lifting device. The lifting device is fixedly connected to the second housing 201. When the height of the belt conveyor is lower than that of the second DBC pallet conveyor line 202, the DBC pallet can come to the top of the belt conveyor after entering the second DBC pallet conveyor line 202. Then, the lifting device lifts the belt conveyor and pushes the DBC pallet up to separate it from the second DBC pallet conveyor line 202, thereby realizing the lifting and positioning of the DBC pallet.

[0098] In this embodiment, as Figure 6 and Figure 7As shown, the three-axis translation mechanism 213 is equipped with an upper visual positioning device 214 and a DBC suction cup 215. The upper visual positioning device 214 is used for visual positioning of the DBC board, and the DBC suction cup 215 is used to pick up the DBC board. The DBC suction cup 215 can move along the XYZ axes and rotate around Z under the drive of the three-axis translation mechanism 213. The upper visual positioning device 214 can move along the XY axes under the drive of the three-axis translation mechanism 213. The DBC suction cup 215 moves towards the DBC tray lifting and positioning transverse movement mechanism 220 under the drive of the three-axis translation mechanism 213. The lifting and positioning DBC tray picks up the DBC board and then sends the DBC board to the lower vision positioning device 217. The lower vision positioning device 217 performs visual positioning of the DBC board and at the same time, the DBC suction cup 215 rotates around Z to correct the orientation of the DBC board. After the correction is completed, the three-axis translation mechanism 4 213, under the visual positioning guidance of the upper vision positioning device 3 214, controls the DBC suction cup 215 to assemble the DBC board onto the base plate of the welding tray that is limited and stopped by the welding tray limiting device 218. After that, the welding tray with the assembled DBC board continues to move along the welding tray conveyor line 203 into the pin insertion station 3.

[0099] In this embodiment, as Figure 6 and Figure 7 As shown, one end of the empty DBC pallet stacking conveyor line 224 is close to the DBC pallet lifting, positioning and lateral movement mechanism 220. After the DBC board in the DBC pallet is sucked away, the lifting device moves to make the belt conveyor level with the empty DBC pallet stacking conveyor line 224. Then, the belt conveyor starts to send the empty DBC pallet on it into the empty DBC pallet stacking conveyor line 224.

[0100] In this embodiment, as Figure 6 and Figure 7As shown, a stacking mechanism is provided at one end of the empty DBC pallet stacking conveyor line 224 near the DBC pallet lifting, positioning, and traversing mechanism 220. The stacking mechanism includes a lifting device 223, a push-pull device, and a support plate 221 mounted on the push-pull device. There is a pair of support plates 221 and push-pull devices, symmetrically arranged on both sides of the empty DBC pallet stacking conveyor line 224. The two support plates 221 can move horizontally towards or away from each other under the action of the push-pull device. When an empty DBC pallet is transported along the empty DBC pallet stacking conveyor line 224... When the delivery line 224 arrives directly above the lifting device 223, the lifting device 223 pushes the empty DBC pallet up and separates it from the empty DBC pallet stacking delivery line 224, thus lifting and positioning the empty DBC pallet. After the empty DBC pallet rises to a position higher than the support plate 221, the push-pull device is controlled to drive the pair of support plates 221 closer to each other. Then the lifting device 223 descends and resets, and the empty DBC pallet is placed on the pair of support plates 221. By repeating the above operation, the empty DBC pallets can be stacked.

[0101] In this embodiment, as Figure 6 and Figure 7 As shown, the empty DBC pallet stack conveyor line 224 is equipped with multiple empty DBC pallet stack lifting devices 225 at one end away from the DBC pallet lifting, positioning and traversing mechanism 220. After the empty DBC pallets are stacked to a certain number of layers (for example, 10 layers of empty DBC pallets form an empty DBC pallet stack 222), the empty DBC pallet stack 222 is placed on the empty DBC pallet stack conveyor line 224 and sent to the empty DBC pallet stack lifting device 225. The empty DBC pallet stack 222 is temporarily lifted by the empty DBC pallet stack lifting device 225 to separate it from the empty DBC pallet stack conveyor line 224, and the empty DBC pallet stack 222 is buffered. When the buffer is full, an alarm is triggered to prompt manual material collection or docking with AGV for material collection.

[0102] In this embodiment, as Figure 6 and Figure 7 As shown, the second needle mold conveying line 204 is connected to the first needle mold conveying line 118. The needle molds on the first needle mold conveying line 118 can enter the second needle mold conveying line 204, and the second needle mold conveying line 204 will send the needle molds to the needle insertion station 3.

[0103] Furthermore, in this embodiment, as Figure 6 and Figure 7As shown, the solder pad and DBC mounting station 2 also includes a scanning device 216, which is mounted on a three-axis translation mechanism 213. The three-axis translation mechanism 213 drives the scanning device 216 to move along the X and Y axes. When the DBC suction cup 215 picks up the DBC board from the DBC tray, the scanning device 216 scans the QR codes on the DBC tray and the DBC board to bind their information. When the DBC suction cup 215 assembles the DBC board onto the substrate of the soldering tray, the scanning device 216 scans the QR codes on the substrate and the DBC board to bind their information. This design allows for timely verification of incoming material information, avoids assembly errors, improves assembly efficiency and the traceability of products and tooling, enables data interaction with the entire plant system, allows for real-time browsing of IGBT product status, and allows for data traceability and manual analysis.

[0104] In this embodiment, after the needle mold enters the pin insertion station 3, it is first filled with integrated pins, and then sent to the needle mold assembly station 4 along with the substrate and positioning frame; specifically, as follows... Figures 8-10 As shown, the pin insertion station 3 includes a chassis 301 and a welding tray conveyor line 302, a die-gluing line 303, a welding tray return conveyor line 5 304, a pin insertion turret mechanism, a die-gluing base 1 308, a pin insertion detection mechanism 325, a die-gluing line 4 324, a translation device 1 310, a translation device 2 323, a three-axis translation mechanism 5 306, a vibrating feeding mechanism, and an upper vision positioning device 4 320, all mounted on the chassis 301. The welding tray conveyor line 302 is connected to the welding tray conveyor line 203, allowing welding trays from the welding tray conveyor line 203 to enter the welding tray conveyor line 302, which then transports the welding trays to the die-gluing assembly station 4. The die-gluing line 303 is connected to the die-gluing line 204, allowing die-gluing lines from the die-gluing line 204 to enter the die-gluing line 303, such as... Figure 9 As shown, a needle mold limiting device 305 is provided at the end of the needle mold conveying line 303 to prevent the needle mold from moving further.

[0105] In this embodiment, as Figure 9 As shown, the needle mold holder 308 is connected to a rotary motor 309, which is fixedly mounted on the housing 301. The rotary motor 309 drives the needle mold holder 308 to rotate around the horizontal axis, and the needle mold can be placed on the needle mold holder 308 and rotate with the needle mold holder 308.

[0106] In this embodiment, as Figures 8-10As shown, the three-axis translation mechanism 5 306 is equipped with a needle mold manipulator 2 307. The needle mold manipulator 2 307 is used to grip the needle mold. Under the drive of the three-axis translation mechanism 5 306, the needle mold manipulator 2 307 can move along the XYZ axes. When the needle mold is stopped by the needle mold limiting device 1 305, the three-axis translation mechanism 5 306 controls the needle mold manipulator 2 307 to grasp the needle mold and then place the needle mold on the needle mold base 1 308. The rotary motor 1 309 drives the needle mold base 1 308 to rotate 180 degrees. After that, the three-axis translation mechanism 5 306 controls the needle mold manipulator 2 307 to grasp the needle mold and transfer the needle mold to the translation device 1 310. The translation device 1 310 drives the needle mold into the needle insertion turret mechanism to insert the integrated needle. After the needle molds have been inserted, they are transferred by the needle mold robot 307 to the translation device 323. The translation device 323 then moves the needle molds away from the needle insertion turret mechanism. This design allows needle molds to be continuously placed into the translation device 310 for needle insertion, and the needle molds that have been inserted can then be continuously moved away, which helps to improve the needle insertion efficiency. After the needle molds are moved away from the needle insertion turret mechanism by the translation device 323, the three-axis translation mechanism 306 controls the needle mold robot 307 to grab the needle molds on the translation device 323 and move them to the needle mold conveyor line 324. The needle mold conveyor line 324 then sends the needle molds that have been inserted to the needle mold assembly station 4. The needle insertion detection mechanism 325 can detect whether the needle molds on the needle mold conveyor line 324 are qualified for needle insertion.

[0107] In this embodiment, as Figure 8 and Figure 10 As shown, the pin insertion turret mechanism includes a pin insertion turret disk 311 rotatably mounted on the chassis 301. The pin insertion turret disk 311 is connected to a rotary motor 322, which drives the pin insertion turret disk 311 to rotate around a vertical axis. The pin insertion turret disk 311 is provided with multiple integrated pin gripping devices 313 arranged symmetrically on the center.

[0108] The chassis 301 is fixedly equipped with a first pusher device 315, a second pusher device 321, and a fourth upper vision positioning device 320, which are located above the pin insertion turret 311.

[0109] The vibratory feeding mechanism includes a vibratory feeder 312 and an integrated needle feeding device 314. The vibratory feeder 312 contains a large number of randomly arranged integrated needles, and the vibratory feeder 312 feeds the integrated needles into the integrated needle feeding device 314 in an orderly manner.

[0110] The chassis 301 is also equipped with an integrated needle calibration station 316, a lower vision inspection device 317, an NG integrated needle throwing tube 318, and a needle insertion station 319. During the rotation of the needle insertion turret 311, each integrated needle gripping device 313 passes directly above the integrated needle feeding device 314, the integrated needle calibration station 316, the lower vision inspection device 317, the NG integrated needle throwing tube 318, and the needle insertion station 319 in sequence. When the integrated needle gripping device 313 reaches directly above the integrated needle feeding device 314, the lower push device 315 activates, pushing the integrated needle gripping device 313 downwards to extend into the integrated needle feeding device 314 to grip the integrated needle. After gripping the integrated needle, the lower push device 315 resets, and the integrated needle gripping device 313 also rises and resets under the action of its own reset spring. When the integrated needle gripping device 313 moves directly above the integrated needle calibration station 316, it can be... The needle alignment station 316 calibrates the position of the integrated needle. When the integrated needle clamping device 313 moves directly above the lower vision inspection device 317, it can be visually inspected by the lower vision inspection device 317 to determine whether the integrated needle clamped by the integrated needle clamping device 313 is intact. If the visual inspection detects defects such as bending or breakage of the integrated needle, when the integrated needle clamping device 313 moves to the NG integrated needle throwing tube 318, a pair of clamping arms of the integrated needle clamping device 313 open, causing the integrated needle to fall into the NG integrated needle throwing tube 318. Conversely, if the visual inspection detects that the integrated needle is intact, after the integrated needle clamping device 313 comes to the position directly above the needle insertion station 319, the push device 321 is activated to push the integrated needle clamping device 313 downward to insert the integrated needle into the needle mold sent by the translation device 310. The needle insertion operation of the needle mold is realized by the continuous rotation of the needle insertion turret 311 in conjunction with the vibration feeding mechanism.

[0111] Furthermore, in order to ensure that the integrated needle gripping device 313 can accurately insert the integrated needle into the needle mold sent by the translation device 310 when it moves down, the upper vision positioning device 320 can be used to visually detect and position the needle insertion operation, so as to assist the integrated needle gripping device 313 in accurately inserting the integrated needle into the needle mold sent by the translation device 310 when it moves down.

[0112] In this embodiment, after the needle die enters the needle die assembly station 4, it is assembled onto the positioning frame, thereby completing the assembly before the secondary welding of the IGBT. Specifically, as follows... Figures 11-13As shown, the needle mold assembly station 4 includes a chassis 401 and a welding pallet conveyor line 402, a needle mold insert NG conveyor line 403, a welding pallet return conveyor line 404, a three-axis translation mechanism 406, a needle mold base 409, a lower vision positioning device 411, a needle mold loading conveyor line 413, and a needle mold unloading conveyor line 414, all mounted on the chassis 401. The welding pallet conveyor line 402 is connected to the welding pallet conveyor line 302, and the welding pallet conveyor line 302 transports... The incoming welding pallet can enter the welding pallet conveyor line 402. Welding pallet limiting device 405 and welding pallet limiting device 412 are respectively set at both ends of the conveying direction of the welding pallet conveyor line 402. When the welding pallet moves along the welding pallet conveyor line 402 toward the welding furnace 5, it can be limited and stopped by the welding pallet limiting device 405. When the welding pallet moves along the welding pallet conveyor line 402 away from the welding furnace 5, it can be limited and stopped by the welding pallet limiting device 412.

[0113] In this embodiment, as Figures 11-13 As shown, the needle mold base 2 409 is connected to the rotary motor 3 410, which is fixedly connected to the housing 401. The rotary motor 3 410 drives the needle mold base 2 409 to rotate, and the needle mold can be placed on the needle mold base 2 409 and rotate synchronously.

[0114] In this embodiment, as Figures 11-13 As shown, the three-axis translation mechanism 406 is equipped with an upper visual positioning device 407 and a needle mold manipulator 408. The needle mold manipulator 408 is used to grasp the needle mold, and the upper visual positioning device 407 is used to perform visual positioning on the needle mold. The needle mold manipulator 408 moves along the XYZ axes under the drive of the three-axis translation mechanism 406 and can rotate around Z. The upper visual positioning device 407 moves along the XY axes under the drive of the three-axis translation mechanism 406.

[0115] In this embodiment, after the needle mold assembly station 4 and the pin insertion station 3 are assembled together, one end of the needle mold conveyor line 4 324 can extend into the needle mold assembly station 4. At this time, the three-axis translation mechanism 6 406 can control the needle mold robot 3 408 to grab the unqualified needle molds on the needle mold conveyor line 4 324 and transfer them to the needle mold insertion NG conveyor line 403 for unloading. For qualified needle molds, they are transferred to the needle mold holder 2 409, and the rotary motor 3 410 drives the needle mold holder 2 409 to rotate 180 degrees. Then, the needle mold robot 3 408 transfers the needle molds on the needle mold holder 2 409 to the lower vision positioning device 3 411. The lower vision positioning device 3 411 performs visual positioning of the needle mold, and at the same time, the needle mold robot 3 408 rotates around Z to adjust the orientation of the needle mold. After correction, the three-axis translation mechanism 406, guided by the upper vision positioning device 407, controls the needle mold robot 408 to assemble the needle mold onto the base plate of the welding tray, which is stopped by the welding tray limiting device 405. After assembly, the upper vision positioning device 407 detects the needle mold assembly. If the needle mold assembly is found to be unqualified, the corresponding welding tray will be stopped after entering the welding furnace 5. After the unqualified needle mold is manually removed, the welding tray returns to the welding tray conveyor line 402 and is stopped by the welding tray limiting device 412. The upper vision positioning device 407 detects the needle mold assembly on the welding tray again. If the needle mold assembly is found to be qualified, the welding tray is sent back into the welding furnace 5 by the welding tray conveyor line 402.

[0116] In this embodiment, as Figures 11-12As shown, both the die feeding conveyor line 413 and the die unloading conveyor line 414 are equipped with die storage racks 415. These racks are used to stack die pieces. When the GBT secondary welding assembly equipment is first run, if the die insertion station 3 does not supply inserted die pieces to the die assembly station 4, or if... When the needle dies used in the GBT secondary welding assembly equipment are old and severely worn, affecting assembly accuracy, the three-axis translation mechanism 406 can be controlled to drive the needle die robot 408 to grab the new needle die stored in the needle die storage rack 415 on the needle die loading conveyor line 413. The new needle die is then sent to the needle die conveyor line 324 back to the needle insertion station 3 for needle insertion. After insertion, it is sent back to the needle die assembly station 4 and assembled onto the base plate of the welding tray. The old needle die is then grabbed by the needle die robot 408 and placed on the needle die storage rack 415 on the needle die unloading conveyor line 414, realizing needle die replacement to ensure assembly accuracy and guarantee I. The GBT secondary welding quality is improved, and the replacement of old and new needle dies online without stopping the machine is realized, saving manpower and improving efficiency. After the needle die storage rack 415 is full of needle dies, it is sent away from the needle die assembly station 4 by the needle die unloading conveyor line 414. The needle die storage rack 415 filled with new needle dies is sent into the needle die assembly station 4 by the needle die loading conveyor line 413. Preferably, the needle die loading conveyor line 413 and the needle die unloading conveyor line 414 are both belt conveyors.

[0117] In this embodiment, after the IGBT is assembled, it is sent to the welding furnace 5 for secondary welding. Specifically, as follows: Figure 14 As shown, the welding furnace 5 includes a furnace body 55 and a feeding conveyor line 51 and a welding pallet return conveyor line 54 that run through the furnace body 55. The feeding conveyor line 51 is connected to the welding pallet conveyor line 402. Welding pallets sent from the welding pallet conveyor line 402 can enter the feeding conveyor line 51. The feeding conveyor line 51 is equipped with a welding pallet limiting device 52. Welding pallets with unqualified needle die assembly detected by the upper vision positioning device 407 can be limited and stopped by the welding pallet limiting device 52. After the unqualified needle die assembly is manually removed, the welding pallet returns to the welding pallet conveyor line 402 under the drive of the feeding conveyor line 51 until it is limited and stopped by the welding pallet limiting device 412. The upper vision positioning device 407 then checks the needle die assembly status on the welding pallet again. Welding pallets with all qualified needle die assemblies can enter the furnace body 55 for welding via the feeding conveyor line 51.

[0118] In this embodiment, after soldering, the IGBT enters the die removal and positioning frame assembly station 6 for die removal and positioning frame assembly. In the die removal and positioning frame assembly station 6, the die and positioning frame on the IGBT are removed, and a new substrate is sent to the die removal and positioning frame assembly station 6. Then, the die, positioning frame, and substrate follow the IGBT to the product tray change station 7. Specifically, as follows... Figures 15-17As shown, the needle mold disassembly and positioning frame assembly station 6 includes a chassis 601 and a welding pallet return conveyor line 2 602, a substrate pallet conveyor line 1 603, a welding pallet conveyor line 604, a needle mold conveyor line 605, a positioning frame storage rack 606, a lower vision positioning device 4 607, a three-axis translation mechanism 7 608, and a substrate pallet stacking conveyor line 613, all mounted on the chassis 601. The substrate pallet conveyor line 1 603 is equipped with a substrate pallet lifting, positioning, and traversing mechanism 612. This mechanism has the same structure as the DBC pallet lifting, positioning, and traversing mechanism 220, and its function is to lift and position the substrate pallets from the substrate pallet stacking conveyor line 613 and place them onto the substrate pallet conveyor line 1 603. The substrate pallets contain substrates. The substrate pallet stacking conveyor line 613 is located near the substrate pallet lifting, positioning, and traversing mechanism. One end of the structure 612 is provided with a destacking mechanism. The structure of the destacking mechanism is the same as that of the stacking mechanism. Its function is to destacking the substrate pallet stack 614 conveyed by the substrate pallet stacking conveyor line 613 into individual substrate pallets. Then, the substrate pallet stacking conveyor line 613 sends them to the substrate pallet lifting, positioning and transverse movement mechanism 612. When the support plate 221 of the destacking mechanism is working, it only needs to hold the second substrate pallet from the bottom up. The first substrate pallet from the bottom up falls onto the substrate pallet stacking conveyor line 613 under the drive of the lifting device 223. When the belt conveyor of the substrate pallet lifting, positioning and transverse movement mechanism 612 is at the same height as the substrate pallet stacking conveyor line 613, the substrate pallet is sent to the substrate pallet lifting, positioning and transverse movement mechanism 612. Then, the substrate pallet lifting, positioning and transverse movement mechanism 612 drives the substrate pallet to be lifted and positioned, waiting for the positioning frame to be assembled on the substrate in the substrate pallet.

[0119] In this embodiment, the welding pallet conveyor line 604 is connected to the feeding conveyor line 51. The welding pallet after IGBT welding is completed enters the welding pallet conveyor line 604 via the feeding conveyor line 51. Figure 16 As shown, the welding pallet conveyor line 604 is equipped with a welding pallet limiting device 615, which is used to limit and stop the welding pallet.

[0120] In this embodiment, as Figures 15-17As shown, the three-axis translation mechanism 608 is equipped with an upper visual positioning device 609, a positioning frame suction cup 610, and a needle mold robot 616. The upper visual positioning device 609 is used for visual positioning of the positioning frame assembly, the positioning frame suction cup 610 is used to pick up the positioning frame, and the needle mold robot 616 is used to grasp the needle mold. The needle mold robot 616 moves along the XYZ three-axis direction under the drive of the three-axis translation mechanism 608. The positioning frame suction cup 610 moves along the XYZ three-axis direction under the drive of the three-axis translation mechanism 608 and can rotate around Z. The upper visual positioning device 609 moves along the XY two-axis direction under the drive of the three-axis translation mechanism 608.

[0121] In this embodiment, as Figures 15-17 As shown, when the welding tray limiting device 615 stops the welding tray, the three-axis translation mechanism 608 controls the needle mold robot 616 to grab the needle mold on the welding tray and transfer the needle mold to the needle mold conveyor line 605, which then sends the needle mold to the product changing station 7. After the needle mold is removed, the three-axis translation mechanism 608 controls the positioning frame suction cup 610 to pick up the positioning frame on the welding tray and transfers the positioning frame to the lower vision positioning device 607 for visual positioning correction. After the alignment is completed, the three-axis translation mechanism 608, under the visual positioning guidance of the upper visual positioning device 609, controls the positioning frame suction cup 610 to assemble the positioning frame onto the substrate in the substrate tray of the substrate tray on the substrate tray lifting, positioning and transverse movement mechanism 612. The substrate tray with the positioning frame assembled is lowered by the substrate tray lifting, positioning and transverse movement mechanism 612 and placed on the substrate tray conveyor line 603. The substrate tray is then sent to the product tray changing station 7 by the substrate tray conveyor line 603. After the needle mold and positioning frame are removed, only 1 GBT remains in the welding tray. Then, the welding tray is sent to the product tray changing station 7 by the welding tray conveyor line 604.

[0122] In this embodiment, as Figures 15-16 As shown, when the IGBT secondary welding assembly equipment is running for the first time, no IGBTs after welding enter the needle mold removal and positioning frame assembly station 6. At this time, the three-axis translation mechanism 608 can control the positioning frame suction cup 610 to pick up the positioning frame on the positioning frame storage rack 606. Multiple positioning frames are stacked on the positioning frame storage rack. After the positioning frame suction cup 610 picks up the positioning frame, it moves the positioning frame to the lower vision positioning device 607 for visual positioning correction. After the correction is completed, the three-axis translation mechanism 608, under the visual positioning guidance of the upper vision positioning device 609, controls the positioning frame suction cup 610 to assemble the positioning frame onto the substrate tray on the substrate tray lifting and positioning transverse movement mechanism 612. The substrate tray with the positioning frame assembled is lowered by the substrate tray lifting and positioning transverse movement mechanism 612 and placed on the substrate tray conveyor line 603. The substrate tray is then sent to the product changing station 7 by the substrate tray conveyor line 603.

[0123] In this embodiment, the IGBT secondary welding assembly equipment realizes the feeding and assembly of substrates and positioning frames at the post-welding furnace 5 station. This does not affect the fully automatic continuous operation of the entire IGBT secondary welding assembly equipment, and also facilitates the replenishment of substrates and positioning frames for the IGBT secondary welding assembly equipment.

[0124] In this embodiment, at the product tray changing station 7, the pin mold, positioning frame, and substrate are reassembled onto the soldering tray. After assembly, they are sent back to the DBC solder paste application station 1 for reuse. Specifically, as shown... Figures 18-20 As shown, the product pallet changing station 7 includes a chassis 701 and a welding pallet return conveyor line 702, a welding pallet conveyor line 703, a die conveyor line 704, a substrate pallet conveyor line 705, a three-axis translation mechanism 8 707, a lifting mechanism 2 709, a three-axis translation mechanism 9 711, a lower vision positioning device 5 714, and an NG product unloading conveyor line 718, all mounted on the chassis 701. The welding pallet conveyor line 703 is connected to the welding pallet conveyor line 604, and the welding pallets on the welding pallet conveyor line 604 can enter the welding pallet conveyor line 703. The welding pallet conveyor line 703 is equipped with a welding pallet limiting device 706, which limits and stops the welding pallets.

[0125] In this embodiment, as Figures 18-20 As shown, the three-axis translation mechanism 8 707 is equipped with an upper vision inspection device 2 708. The upper vision inspection device 2 708 is moved along the XY axis by the three-axis translation mechanism 8 707. The upper vision inspection device 2 708 is used to perform visual inspection on the IGBT in the soldering tray, such as detecting the height of the integrated pin, the pin position, the position of the DBC board, and the solder overflow, so as to determine whether the IGBT is qualified after soldering. When the soldering tray is stopped by the soldering tray limiting device 7 706, the three-axis translation mechanism 8 707 controls the upper vision inspection device 2 708 to move to the top of the soldering tray to inspect the IGBT after soldering and determine whether the IGBT is qualified.

[0126] In this embodiment, as Figures 18-20As shown, the lifting mechanism 2 709 is connected to the welding pallet conveyor line 8 710. The lifting mechanism 2 709 can drive the welding pallet conveyor line 8 710 to rise to a high working position and fall to a low working position. The welding pallet conveyor line 8 710 at the high working position is connected to the welding pallet conveyor line 7 703. The welding pallet inspected by the upper vision inspection device 2 708 is sent by the welding pallet conveyor line 7 703 to the welding pallet conveyor line 8 710 at the high working position. The welding pallet conveyor line 8 710 at the low working position is connected to the welding pallet return conveyor line 1 702. The welding pallet on the welding pallet conveyor line 7 703 can enter the welding pallet conveyor line 8 710 at the high working position, and the welding pallet on the welding pallet conveyor line 8 710 at the low working position can enter the welding pallet return conveyor line 1 702.

[0127] In this embodiment, as Figures 18-20 As shown, the three-axis translation mechanism 9 711 is equipped with an upper visual positioning device 7 712 and a product changing robot 713. The product changing robot 713 is used to grasp I GBTs, needle molds, positioning frames, and substrates. The upper visual positioning device 7 712 is used to perform visual positioning of the needle molds, positioning frames, and substrates when assembling them onto the welding tray. The product changing robot 713 moves along the XYZ three-axis direction under the drive of the three-axis translation mechanism 9 711 and can rotate around Z. The upper visual positioning device 7 712 moves along the XY two-axis direction under the drive of the three-axis translation mechanism 9 711.

[0128] In this embodiment, as Figures 18-20 As shown, when the welding pallet enters the welding pallet conveyor line 710 at the high working position, the three-axis translation mechanism 711 controls the product changing robot 713 to grab the I GBT that fails the inspection by the upper vision inspection device 708 and send it to the NG product unloading conveyor line 718, thereby forming a cavity on the welding pallet.

[0129] In this embodiment, as Figures 18-20As shown, the substrate tray conveyor line 2 705 is connected to the substrate tray conveyor line 1 603. The substrate trays sent from the substrate tray conveyor line 1 603 can enter the substrate tray conveyor line 2 705. The substrate tray conveyor line 2 705 is equipped with a substrate tray limiting device 1 716 and a substrate tray limiting device 2 717. After the substrate tray enters the substrate tray conveyor line 2 705, it is first stopped by the substrate tray limiting device 1 716, and then stopped by the substrate tray limiting device 2 717. When the substrate tray is stopped by the substrate tray limiting device 1 716, the three-axis translation mechanism 9 711 controls the product. The tray-changing robot 713 grasps the substrate and positioning frame in the substrate tray and transfers them to the lower vision positioning device 714 for visual positioning correction. After correction, the three-axis translation mechanism 711, under the visual positioning guidance of the upper vision positioning device 712, controls the product tray-changing robot 713 to assemble the substrate and positioning frame into the cavity of the welding tray. The empty substrate tray continues to move along the substrate tray conveyor line 705 until it is stopped by the substrate tray limiting device 717. The three-axis translation mechanism 711 controls the product tray-changing robot 713 to grasp the IGBT that has passed the inspection of the upper vision inspection device 708 and send it to the empty substrate tray that is stopped by the substrate tray limiting device 717. After the empty substrate tray is filled with IGBTs, it is sent away by the substrate tray conveyor line 705.

[0130] In this embodiment, as Figures 18-20As shown, the needle mold conveyor line 704 is connected to the needle mold conveyor line 605. The needle molds on the needle mold conveyor line 605 can enter the needle mold conveyor line 704. The needle mold conveyor line 704 is equipped with a needle mold limiting device 2 715. When the needle mold is stopped by the needle mold limiting device 2 715, the three-axis translation mechanism 9 711 controls the product changing robot 713 to grab the needle mold and move it to the lower vision positioning device 5 714 for visual positioning correction. After correction, the three-axis translation mechanism 9 711 controls the product changing machine under the visual positioning guidance of the upper vision positioning device 712. The robotic arm 713 assembles the needle mold onto the base plate of the welding tray. At this point, the welding tray on the high-working-position welding tray conveyor line 8 710, having assembled the base plate, positioning frame, and needle mold, descends to the low-working-position and is transferred to the welding tray return conveyor line 1 702. The welding tray return conveyor line 1 702 is connected to the welding tray return conveyor line 2 602. The welding tray on the welding tray return conveyor line 1 702 can enter the welding tray return conveyor line 2 602. The welding tray return conveyor line 2 602 is connected to the welding tray return conveyor line 3 54. The welding pallet on feeder line 2 602 can enter welding pallet return conveyor line 3 54, which is connected to welding pallet return conveyor line 404. The welding pallets on feeder line 3 54 can enter welding pallet return conveyor line 404, which is connected to welding pallet return conveyor line 5 304. The welding pallets on feeder line 404 can enter welding pallet return conveyor line 5 304, which is connected to welding pallet return conveyor line 6 226. The welding trays on the return conveyor line 304 can enter the return conveyor line 226. The return conveyor line 226 is connected to the welding tray conveyor line 114 at the low working position. The welding trays on the return conveyor line 226 can enter the welding tray conveyor line 114 at the low working position through the feed port 119. In this way, the pin mold and positioning frame can be removed after soldering and then directly flow back to the DBC solder paste station 1 with the new substrate and welding tray. This saves manual loading and unloading and enables the welding trays, pin molds and positioning frames to be automatically recycled and reused. This realizes the automatic loading and unloading, automatic assembly, welding and tooling fixture return functions of IGBT.

[0131] As can be seen, the IGBT secondary welding assembly equipment in this embodiment has the function of data interaction compatible with the whole plant. Each workstation is divided according to the process, and the functions of each workstation are relatively independent. It can be operated as a single independent workstation, or it can be connected to the whole plant production line with the addition of MES / EAP, thereby realizing the integration of the IGBT secondary welding assembly equipment into the production line to meet the requirements of automated material flow of the whole plant equipment.

[0132] The above description is merely a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformations made using the contents of the present invention's specification and drawings under the inventive concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. An IGBT secondary welding assembly device, characterized in that, This includes DBC solder paste application station, solder pad, DBC mounting station, pin insertion station, pin die assembly station, soldering furnace, pin die removal and positioning frame assembly station, and product tray changing station; After the DBC board enters the DBC solder paste application station, it is soldered. After the solder paste is applied, the DBC board enters the solder pad and DBC mounting station. The pin mold, positioning frame, and substrate enter the DBC solder paste application station and are then sent to the solder pad and DBC mounting station. The substrates entering the solder pad and DBC mounting station are successively fitted with solder pads and DBC boards. After the solder pads and DBC boards are fitted, the substrates, along with the pin mold and positioning frame, are sent to the pin insertion station. After the pin mold enters the pin insertion station, it is first filled with integrated pins, and then sent to the pin mold assembly station along with the substrate and positioning frame. After the needle die enters the needle die assembly station, it is assembled onto the positioning frame, thus completing the assembly before the secondary welding of the IGBT. After the IGBT is assembled, it is sent to the welding furnace for secondary welding. After the welding is completed, the IGBT enters the needle die removal and positioning frame assembly station. In the needle mold and positioning frame assembly station, the needle mold and positioning frame on the IGBT are removed, and the new substrate is sent to the needle mold and positioning frame assembly station. Then the needle mold, positioning frame and substrate are sent to the product change station along with the IGBT. In the product tray changing station, the pin mold, positioning frame and substrate are reassembled onto the soldering tray, and after assembly, they are sent back to the DBC solder paste station. The DBC solder paste station includes a chassis and a DBC tray conveyor line, a lifting mechanism, a three-axis translation mechanism, a three-axis translation mechanism, a die conveyor line, and an NG material station, all mounted on the chassis. The DBC pallet conveyor line is equipped with a DBC pallet limiting device 1 and a DBC pallet limiting device 2. The lifting mechanism is equipped with a welding pallet conveyor line. The three-axis translation mechanism is equipped with an upper vision positioning device and a dispensing device. After the DBC tray conveyed by the DBC tray conveyor line is stopped by the DBC tray limiting device, the three-axis translation mechanism, guided by the upper vision positioning device, drives the dispensing device to the DBC tray to apply solder paste to the DBC board on the DBC tray. After the solder paste is applied to the DBC board, the DBC tray conveyor line continues to convey the DBC tray until the DBC tray is stopped by the DBC tray limiting device. The three-axis translation mechanism 2 is equipped with an upper vision inspection device 1, a DBC chuck 1, and a needle mold robot 1. After the DBC tray is stopped by the DBC tray limiting device 2, the three-axis translation mechanism 2 drives the upper vision inspection device 1 to move directly above the DBC tray to perform visual inspection on the DBC board to determine whether the solder paste dots on the DBC board are qualified. If they are not qualified, the three-axis translation mechanism 2 drives the DBC chuck 1 to pick up the unqualified DBC board and send it to the NG material station. The soldering trays sent from the solder pad and DBC mounting station to the solder paste station are located on soldering tray conveyor line one. The soldering trays have substrates, pin molds, and positioning frames. The lifting mechanism one can drive the soldering tray conveyor line one to rise to a high working position and fall to a low working position. The three-axis translation mechanism two can drive the pin mold robot one to the soldering tray conveyor line one at the high working position to grab the pin molds on the soldering trays and send the pin molds to the pin mold conveyor line one.

2. The IGBT secondary welding assembly equipment as described in claim 1, characterized in that, The welding sheet and DBC mounting station includes a chassis 2 and a DBC pallet conveyor line 2, a welding pallet conveyor line 2, a needle die conveyor line 2, a welding sheet storage rack, a three-axis translation mechanism 3, a three-axis translation mechanism 4, an empty DBC pallet stack conveyor line, a welding pallet return conveyor line 6, a lower vision positioning device 1, and a lower vision positioning device 2, all mounted on the chassis 2. The three-axis translation mechanism three is equipped with an upper vision positioning device two and a welding sheet suction cup; The second welding pallet conveyor line is connected to the first welding pallet conveyor line at the high working position. The second welding pallet conveyor line is equipped with a first welding pallet limiting device and a second welding pallet limiting device. When the welding pallet on the first welding pallet conveyor line at the high working position enters the second welding pallet conveyor line and is stopped by the first welding pallet limiting device, the third three-axis translation mechanism drives the welding sheet suction cup to the welding sheet storage rack to pick up the welding sheet. After the welding sheet suction cup picks up the welding sheet, it sends the welding sheet to the lower vision positioning device 1 for visual positioning correction. After the correction is completed, the third three-axis translation mechanism, guided by the upper vision positioning device 2, uses the welding sheet suction cup to assemble the welding sheet onto the base plate of the welding pallet. The welding pallet with the assembled welding sheet continues to move along the second welding pallet conveyor line until it is stopped by the second welding pallet limiting device. The second DBC pallet conveyor line is connected to the first DBC pallet conveyor line. The second DBC pallet conveyor line is equipped with a DBC pallet lifting, positioning and transverse movement mechanism. When the DBC pallet on the first DBC pallet conveyor line enters the second DBC pallet conveyor line, it is lifted and stopped by the DBC pallet lifting, positioning and transverse movement mechanism. The three-axis translation mechanism four is equipped with an upper visual positioning device three and a DBC suction cup two. When the welding tray is stopped by the welding tray limiting device two, the DBC suction cup two, driven by the three-axis translation mechanism four, moves to the DBC tray lifting and positioning transverse movement mechanism to pick up the DBC board on the DBC tray. Then, the DBC board is sent to the lower visual positioning device two for visual positioning correction. After correction, the three-axis translation mechanism four, guided by the upper visual positioning device three, uses the DBC suction cup two to assemble the DBC board onto the base plate of the welding tray. The welding tray with the assembled DBC board continues to move along the welding tray conveyor line two. One end of the empty DBC pallet stacking conveyor line is close to the DBC pallet lifting, positioning and traversing mechanism, and this end of the empty DBC pallet stacking conveyor line is equipped with a stacking mechanism. The other end of the empty DBC pallet stacking conveyor line is equipped with an empty DBC pallet stacking lifting device. After all the DBC boards on the DBC pallets on the DBC pallet lifting, positioning and traversing mechanism are sucked away, the DBC pallet lifting, positioning and traversing mechanism drives the DBC pallets to the stacking mechanism. The stacking mechanism stacks the empty DBC pallets to form an empty DBC pallet stack. After the stacking is completed, the empty DBC pallet stacking conveyor line sends the empty DBC pallet stack to the empty DBC pallet stacking lifting device, which lifts the empty DBC pallet stack and separates it from the empty DBC pallet stacking conveyor line. The second needle mold conveyor line is connected to the first needle mold conveyor line, and the needle molds on the first needle mold conveyor line can enter the second needle mold conveyor line. The welding pallet return conveyor line six is ​​connected to the welding pallet conveyor line one which is in a low working position, and the welding pallets on the welding pallet return conveyor line six can enter the welding pallet conveyor line one which is in a low working position.

3. The IGBT secondary welding assembly equipment as described in claim 2, characterized in that, The three-axis translation mechanism four is also equipped with a scanning device one. When the DBC suction cup two picks up the DBC board on the DBC tray, the scanning device one scans the QR code on the DBC tray and the DBC board to realize the information binding between the two. When the DBC suction cup two assembles the DBC board onto the substrate of the welding tray, the scanning device one scans the QR code on the substrate and the DBC board to realize the information binding between the two.

4. The IGBT secondary welding assembly equipment as described in claim 2, characterized in that, The pin insertion station includes a chassis 3 and a welding tray conveyor line 3, a pin die conveyor line 3, a welding tray return conveyor line 5, a pin insertion turret mechanism, a pin die base 1, a pin insertion detection mechanism, a pin die conveyor line 4, a translation device 1, a translation device 2, a three-axis translation mechanism 5, a vibrating feeding mechanism, and an upper vision positioning device 4. The welding pallet conveyor line three is connected to the welding pallet conveyor line two, and the welding pallets on the welding pallet conveyor line two can enter the welding pallet conveyor line three. The needle mold conveyor line three is connected to the needle mold conveyor line two. Needle molds on needle mold conveyor line two can enter needle mold conveyor line three. A needle mold limiting device one is provided at the end of needle mold conveyor line three. A needle mold base one is driven and connected to a rotary motor one. A needle mold manipulator two is provided on the three-axis translation mechanism five. When the needle mold is stopped by the needle mold limiting device one, the three-axis translation mechanism five controls the needle mold manipulator two to grasp the needle mold, and then place the needle mold on the needle mold base one. The rotary motor one drives the needle mold base one to rotate 180 degrees. Afterwards, the needle mold... The three-axis translation mechanism five controls the needle mold robot two to grasp the needle mold and transfer the needle mold to the translation device one. The translation device one drives the needle mold into the needle insertion turret mechanism to insert a needle. After the needle insertion is completed, the needle mold is transferred by the needle mold robot two to the translation device two. The translation device two drives the needle mold away from the needle insertion turret mechanism. The three-axis translation mechanism five controls the needle mold robot two to grasp the needle mold on the translation device two and transfer the needle mold to the needle mold conveyor line four for delivery. The needle insertion detection mechanism can detect whether the needle mold on the needle mold conveyor line four is qualified for needle insertion. The welding pallet return conveyor line five is connected to the welding pallet return conveyor line six, and the welding pallets on the welding pallet return conveyor line five can enter the welding pallet return conveyor line six.

5. The IGBT secondary welding assembly equipment as described in claim 4, characterized in that, The needle mold assembly station includes a chassis 4 and a welding pallet conveyor line 4, a needle mold insertion pin NG conveyor line, a welding pallet return conveyor line 4, a three-axis translation mechanism 6, a needle mold base 2, a lower vision positioning device 3, a needle mold loading conveyor line, and a needle mold unloading conveyor line. The welding pallet conveyor line four is connected to the welding pallet conveyor line three. The welding pallets on the welding pallet conveyor line three can enter the welding pallet conveyor line four. Welding pallet limiting device three and welding pallet limiting device four are respectively set at both ends of the welding pallet conveyor line four. When the welding pallet moves along the welding pallet conveyor line four toward the welding furnace, it can be limited and stopped by the welding pallet limiting device three. When the welding pallet moves along the welding pallet conveyor line four away from the welding furnace, it can be limited and stopped by the welding pallet limiting device four. The needle mold holder 2 is driven by a rotary motor 3. The three-axis translation mechanism 6 is equipped with an upper visual positioning device 5 and a needle mold robot 3. The three-axis translation mechanism 6 controls the needle mold robot 3 to grasp the defective needle molds on the needle mold conveyor line 4 and transfer them to the NG needle conveyor line for removal. The three-axis translation mechanism 6 controls the needle mold robot 3 to grasp the qualified needle molds on the needle mold conveyor line 4 and transfer them to the needle mold holder 2. The rotary motor 3 drives the needle mold holder 2 to rotate 180 degrees. Then, the needle mold robot 3 transfers the needle molds on the needle mold holder 2 to the lower visual positioning device 3 for visual positioning correction. After correction, the three-axis translation mechanism 6... Guided by the upper vision positioning device 5, the transfer mechanism 6 uses the needle mold robot 3 to assemble the needle mold onto the base plate of the welding tray, which is stopped by the welding tray limiting device 3. After assembly, the upper vision positioning device 5 checks the needle mold assembly. If the needle mold assembly is found to be unqualified, the welding tray will be stopped after entering the welding furnace. After the unqualified needle mold is manually removed, the welding tray returns to the welding tray conveyor line 4 and is stopped by the welding tray limiting device 4. The upper vision positioning device 5 checks the needle mold assembly on the welding tray again. If the needle mold assembly is found to be qualified, the welding tray is sent back into the welding furnace by the welding tray conveyor line 4. Both the needle mold feeding conveyor line and the needle mold unloading conveyor line are equipped with needle mold storage racks. The three-axis translation mechanism can control the needle mold robot to grab new needle molds stored on the needle mold storage rack on the needle mold feeding conveyor line and transfer old needle molds from the welding tray to the needle mold storage rack on the needle mold unloading conveyor line to realize needle mold replacement. The welding pallet return conveyor line four is connected to the welding pallet return conveyor line five, and the welding pallets on the welding pallet return conveyor line four can enter the welding pallet return conveyor line five.

6. The IGBT secondary welding assembly equipment as described in claim 5, characterized in that, The welding furnace includes a furnace body and a feeding conveyor line and a welding pallet return conveyor line 3 that run through the furnace body. The feeding conveyor line is connected to the welding pallet conveyor line 4. Welding pallets on the welding pallet conveyor line 4 can enter the feeding conveyor line. The feeding conveyor line is equipped with a welding pallet limiting device 5. Welding pallets with unqualified needle die assembly detected by the upper vision positioning device 5 can be limited and stopped by the welding pallet limiting device 5. After the unqualified IGBT needle die assembly is manually removed, the welding pallet returns to the welding pallet conveyor line 4 under the drive of the feeding conveyor line until it is limited and stopped by the welding pallet limiting device 4. Welding pallets with all qualified needle die assembly can enter the furnace body through the feeding conveyor line for welding. The welding pallet return conveyor line three is connected to the welding pallet return conveyor line four, and the welding pallets on the welding pallet return conveyor line three can enter the welding pallet return conveyor line four.

7. The IGBT secondary welding assembly equipment as described in claim 6, characterized in that, The needle mold disassembly and positioning frame assembly station includes a chassis 6 and a welding pallet return conveyor line 2, a substrate pallet conveyor line 1, a welding pallet conveyor line 6, a needle mold conveyor line 6, a positioning frame storage rack, a lower vision positioning device 4, a three-axis translation mechanism 7, and a substrate pallet stacking conveyor line. The substrate pallet conveyor line is equipped with a substrate pallet lifting, positioning and transverse movement mechanism. The substrate pallet stack conveyor line is equipped with a destacking mechanism at one end near the substrate pallet lifting, positioning and transverse movement mechanism. The substrate pallet stacks conveyed by the substrate pallet stack conveyor line are destacking into single pallets by the destacking mechanism and then sent into the substrate pallet lifting, positioning and transverse movement mechanism. The welding pallet conveyor line 6 is connected to the feeding conveyor line. Welding pallets after IGBT welding are fed into welding pallet conveyor line 6 via the feeding conveyor line. Welding pallet conveyor line 6 is equipped with a welding pallet limiting device 6. The three-axis translation mechanism 7 is equipped with an upper vision positioning device 6, a positioning frame suction cup, and a needle mold robot arm 4. When the welding pallet limiting device 6 stops the welding pallet, the three-axis translation mechanism 7 controls the needle mold robot arm 4 to grab the needle mold on the welding pallet and transfer the needle mold to the needle mold conveyor line 6 for delivery. Afterwards... The three-axis translation mechanism 7 controls the positioning frame suction cup to pick up the positioning frame on the welding tray and moves the positioning frame to the lower vision positioning device 4 for visual positioning correction. After the correction is completed, the three-axis translation mechanism 7, under the guidance of the upper vision positioning device 6, uses the positioning frame suction cup to assemble the positioning frame onto the substrate tray on the substrate tray lifting, positioning and transverse movement mechanism. The substrate tray with the positioning frame assembled is moved by the substrate tray lifting, positioning and transverse movement mechanism to the substrate tray conveyor line 1 and sent away. The welding tray after the positioning frame is picked up is sent away by the welding tray conveyor line 6. When no soldered IGBTs enter the needle removal mold and positioning frame assembly station, the three-axis translation mechanism 7 can control the positioning frame suction cup to pick up the positioning frame on the positioning frame storage rack and move the positioning frame to the lower vision positioning device 4 for visual positioning correction. After correction, the three-axis translation mechanism 7, guided by the upper vision positioning device 6, uses the positioning frame suction cup to assemble the positioning frame onto the substrate tray on the substrate tray lifting and positioning transverse movement mechanism. The substrate tray with the positioning frame assembled is then moved by the substrate tray lifting and positioning transverse movement mechanism to the substrate tray conveyor line 1 and sent away. The second welding pallet return conveyor line is connected to the third welding pallet return conveyor line, and the welding pallets on the second welding pallet return conveyor line can enter the third welding pallet return conveyor line.

8. The IGBT secondary welding assembly equipment as described in claim 7, characterized in that, The product pallet changing station includes a chassis 7 and a welding pallet return conveyor line 1, a welding pallet conveyor line 7, a needle mold conveyor line 7, a substrate pallet conveyor line 2, a three-axis translation mechanism 8, a lifting mechanism 2, a three-axis translation mechanism 9, a lower vision positioning device 5, and an NG product unloading conveyor line. The welding pallet conveyor line 7 is connected to the welding pallet conveyor line 6. The welding pallets on the welding pallet conveyor line 6 can enter the welding pallet conveyor line 7. The welding pallet conveyor line 7 is equipped with a welding pallet limiting device 7. The three-axis translation mechanism 8 is equipped with an upper vision inspection device 2. When the welding pallet is limited and stopped by the welding pallet limiting device 7, the three-axis translation mechanism 8 controls the upper vision inspection device 2 to move to directly above the welding pallet to inspect the welded IGBT and determine whether the welded IGBT is qualified. The lifting mechanism 2 is connected to the welding pallet conveyor line 8. The lifting mechanism 2 can drive the welding pallet conveyor line 8 to rise to a high working position and fall to a low working position. The welding pallet conveyor line 8 at the high working position is connected to the welding pallet conveyor line 7, and the welding pallet conveyor line 8 at the low working position is connected to the welding pallet return conveyor line 1. The welding pallets on the welding pallet conveyor line 7 can enter the welding pallet conveyor line 8 at the high working position, and the welding pallets on the welding pallet conveyor line 8 at the low working position can enter the welding pallet return conveyor line 1. The welding pallet return conveyor line 1 is connected to the welding pallet return conveyor line 2, and the welding pallets on the welding pallet return conveyor line 1 can enter the welding pallet return conveyor line 2. The three-axis translation mechanism nine is equipped with an upper vision positioning device seven and a product pallet changing robot. When the welding pallet enters the welding pallet conveyor line eight which is in a high working position, the three-axis translation mechanism nine controls the product pallet changing robot to grab the unqualified IGBT and send it to the NG product unloading conveyor line, thereby creating a cavity on the welding pallet. The substrate tray conveyor line 2 is connected to the substrate tray conveyor line 1. The substrate trays on the substrate tray conveyor line 1 can enter the substrate tray conveyor line 2. The substrate tray conveyor line 2 is provided with a substrate tray limiting device 1 and a substrate tray limiting device 2. After the substrate tray enters the substrate tray conveyor line 2, it is first limited and stopped by the substrate tray limiting device 1, and then limited and stopped by the substrate tray limiting device 2. When the substrate tray is stopped by the substrate tray limiting device 1, the three-axis translation mechanism 9 controls the product tray changing robot to grab the substrate and positioning frame in the substrate tray and transfer them to the lower vision positioning device 5 for visual positioning correction. After the correction is completed, the three-axis translation mechanism 9, guided by the upper vision positioning device 7, uses the product tray changing robot to assemble the substrate and positioning frame into the cavity of the welding tray. The empty substrate tray continues to move along the substrate tray conveyor line 2 until it is stopped by the substrate tray limiting device 2. The needle mold conveying line 7 is connected to the needle mold conveying line 6. The needle molds on the needle mold conveying line 6 can enter the needle mold conveying line 7. The needle mold conveying line 7 is equipped with a needle mold limiting device 2. When the needle mold is stopped by the needle mold limiting device 2, the three-axis translation mechanism 9 controls the product changing robot to grab the needle mold and move it to the lower vision positioning device 5 for visual positioning correction. After the correction is completed, the three-axis translation mechanism 9, guided by the upper vision positioning device 7, uses the product changing robot to assemble the needle mold onto the base plate of the welding tray. The three-axis translation mechanism nine controls the product pallet changing robot to grab qualified IGBTs and send them to an empty substrate pallet that is stopped by the substrate pallet limiting device two. After the empty substrate pallet is filled with IGBTs, it is sent away by the substrate pallet conveyor line two. After the welding pallet on the high-working-position welding pallet conveyor line 8 is assembled with the substrate, positioning frame and needle mold, it is lowered to the low-working-position and transferred to the welding pallet return conveyor line 1.

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