Pin setting equipment for IGBT module PINs

Abstract

The invention discloses pin setting equipment for IGBT module PINs. The pin setting equipment comprises a case, a transverse moving module, a machine vision device and a pin setting mechanism, wherein the transverse moving module, the machine vision device and the pin setting mechanism are arranged on the case; the transverse moving module comprises a first transverse moving device, a second transverse moving device, a third transverse moving device and a fourth transverse moving device, the jig is arranged on the first translation device, and the first translation device drives the jig to translate. The pin setting device for the IGBT module PINs has the beneficial effects that the pin setting device for the IGBT module PINs can replace manual work to complete pin setting actions of the PINs, the axial force sensor is used for detecting and judging whether the PINs are welded firmly or not in the pin setting process, corresponding detection data are generated for each PIN for rechecking, binding of a test result and the PINs is achieved, and the test efficiency is improved. The trouble of manually recording detection data is saved, the detection precision is high, the problem of influence of subjective operation differences of people is avoided, the detection speed is high, the efficiency is high, and the detection accuracy is high.

Description

Technical Field

[0001] The invention relates to the field of IGBT modules, and in particular to a pin-shifting device for PIN pins of IGBT modules. Background Art

[0002] IGBT: (Insulated Gate Bipolar Transistor), insulated gate bipolar transistor, is a composite fully controlled voltage-driven power semiconductor device composed of BJT (bipolar transistor) and MOS (insulated gate field effect transistor), which has the advantages of both MOSFET's high input impedance and GTR's low on-state voltage drop. GTR has low saturation voltage drop and high current density, but large driving current; MOSFET has very low driving power and fast switching speed, but large on-state voltage drop and low current density. IGBT combines the advantages of the above two devices, with low driving power and low saturation voltage drop. It is very suitable for use in converter systems with DC voltage of 600V and above, such as AC motors, inverters, switching power supplies, lighting circuits, traction drives and other fields.

[0003] The IGBT module is a modular semiconductor product that is packaged by IGBT (insulated gate bipolar transistor chip) and FWD (diode chip) through a specific circuit bridge; the packaged IGBT module is directly used in inverters, UPS uninterruptible power supplies and other equipment.

[0004] The PIN pin is a metal material used to complete the conduction (transmission) of electricity (signals) in the IGBT module.

[0005] With the rapid development of automation equipment, customers have higher and higher requirements for equipment, requiring more functions and smaller footprint. This is also true in the field of IGBT modules. Currently, the PIN pins of IGBT modules are fixed on the circuit board by soldering and other methods. Whether the PIN pin welding is firm and reliable plays a vital role in the quality of the IGBT module. Therefore, quality inspection is required after welding to detect PIN pins that are not firmly welded.

[0006] Existing quality inspection solutions mostly rely on manual inspection, where the PIN pin is moved by the fingers to see if it shakes, in order to determine whether the pin is firmly welded. This quality inspection method is slow and inefficient, and the quality inspection results are greatly affected by differences in human subjective operations, resulting in misjudgments.

[0007] Based on this, the present invention is designed. Summary of the invention

[0008] The main purpose of the present invention is to provide a pin-moving device for IGBT module PIN pins, aiming to solve the problems of slow inspection speed, low efficiency and low inspection accuracy in the current manual quality inspection of whether the PIN pin welding is reliable.

[0009] In order to solve the above problems, the present invention proposes a pin-shifting device for IGBT module PIN pins, comprising a chassis and a lateral movement module arranged on the chassis, a machine vision device and a pin-shifting mechanism;

[0010] The traverse module comprises:

[0011] The first translation device is horizontally fixedly mounted on the chassis;

[0012] A jig is arranged on the first translation device, and the first translation device drives the jig to translate;

[0013] The machine vision device comprises:

[0014] Mounting frame, fixedly mounted on the chassis;

[0015] A light source is fixedly connected to the mounting frame;

[0016] A lifting device 1 is vertically fixedly mounted on the mounting frame, and a visual camera is arranged on the lifting device 1, and the visual camera is located directly above the light source;

[0017] The needle-setting mechanism comprises:

[0018] A three-axis moving device, mounted on the chassis;

[0019] The axial force sensor is installed on the three-axis moving device, and the three-axis moving device drives the axial force sensor to move along the XYZ three-axis directions;

[0020] The pin-shifting member is installed directly below the axial force sensor. A pin insertion hole is provided on the lower surface of the pin-shifting member, and the upper end of the PIN pin can be inserted into the pin insertion hole.

[0021] In one embodiment, the transverse movement module further includes a photoelectric switch and a limit block. When the translation device drives the fixture to translate and touch the limit block, the fixture just triggers the photoelectric switch.

[0022] In one embodiment, an IGBT module is placed on the fixture.

[0023] In one embodiment, a calibration plate is disposed directly below the light source, and the calibration plate is fixedly connected to the mounting frame.

[0024] In one embodiment, the three-axis moving device is composed of an X-axis translation device, a Y-axis translation device, and a Z-axis lifting device. The X-axis translation device is fixedly installed on the chassis, the Y-axis translation device is connected to the X-axis translation device, and the Y-axis translation device is driven to translate along the X-axis through the X-axis translation device. The Z-axis lifting device is installed on the Y-axis translation device, and the Z-axis lifting device is driven to translate along the Y-axis through the Y-axis translation device. The axial force sensor is connected to the Z-axis lifting device, and the axial force sensor is driven to be lifted and lowered along the Z-axis through the Z-axis lifting device.

[0025] In one embodiment, a mounting plate is installed on the Z-axis lifting device, and the axial force sensor is installed on the mounting plate.

[0026] In one embodiment, a cross groove is provided on the lower surface of the pin-shifting member, and the center of the cross groove is coaxial with the pin insertion hole.

[0027] In one embodiment, a machine cover is provided on the chassis, the transverse movement module, the machine vision device and the needle shifting mechanism are located in the machine cover, and a material inlet and outlet are provided on the side of the machine cover.

[0028] In one embodiment, a safety grating is provided at the material inlet and outlet.

[0029] In one embodiment, a human-machine interaction device is provided on the hood.

[0030] Beneficial effect: The pin-moving device for the PIN pin of the IGBT module of the present application can replace manual work to complete the pin-moving action of the PIN pin, and use the axial force sensor to detect and determine whether the PIN pin welding is reliable during the pin-moving process, and generate corresponding test data for each PIN pin for review, thereby realizing the binding of the test results and the PIN pin, eliminating the trouble of manual recording of test data, with high detection accuracy, and no problem of being affected by human subjective operation differences. The inspection speed is fast, the efficiency is high, and the inspection accuracy is high. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0032] Figure 1 It is a structural schematic diagram of a pin-shifting device for an IGBT module PIN pin of the present invention;

[0033] Figure 2 yes Figure 1 Schematic diagram after removing the hood;

[0034] Figure 3 It is a structural schematic diagram of the transverse shift module of the present invention;

[0035] Figure 4 It is a structural schematic diagram of the machine vision device of the present invention;

[0036] Figure 5 It is a structural schematic diagram of the needle-shifting mechanism of the present invention.

[0037] The following are the descriptions of the reference numerals:

[0038] 1. Chassis;

[0039] 2. Transverse movement module; 21. Translation device 1; 22. Fixture; 23. Photoelectric switch; 24. Limit block;

[0040] 3. Machine vision device; 31. Mounting frame; 32. Light source; 33. Lifting device 1; 34. Visual camera; 35. Calibration plate;

[0041] 4. Needle shifting mechanism; 41. X-axis translation device; 42. Y-axis translation device; 43. Z-axis lifting device; 44. Mounting plate; 45. Axial force sensor; 46. Needle shifting member; 47. Pin hole; 48. Cross slot;

[0042] 5. IGBT module;

[0043] 6. Engine hood;

[0044] 7. Safety grating;

[0045] 8. Human-computer interaction device;

[0046] 9. Inlet and outlet. DETAILED DESCRIPTION

[0047] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0048] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0049] In the present invention, unless otherwise clearly specified and limited, the terms "connection", "fixation", etc. should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0050] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the meaning of "and / or" appearing in the full text includes three parallel schemes. Taking "A and / or B" as an example, it includes scheme A, or scheme B, or a scheme that satisfies both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in the field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0051] The present invention proposes a pin-moving device for an IGBT module PIN pin. The pin-moving device for the IGBT module PIN pin can replace manual work to complete the pin-moving action of the PIN pin, and uses an axial force sensor 45 to detect and determine whether the PIN pin welding is reliable during the pin-moving process, and generates corresponding detection data for each PIN pin for review, thereby realizing the binding of the test result and the PIN pin, eliminating the trouble of manually recording the detection data, and having high detection accuracy. There is no problem of being affected by human subjective operation differences, and the inspection speed is fast, the efficiency is high, and the inspection accuracy is high.

[0052] Specifically, in one embodiment of the invention, Figure 1 and Figure 2 As shown, the pin-shifting device for the PIN pin of the IGBT module includes a chassis 1 and a transverse movement module 2, a machine vision device 3 and a pin-shifting mechanism 4 arranged on the chassis 1. A cover 6 is arranged on the chassis 1, and the transverse movement module 2, the machine vision device 3 and the pin-shifting mechanism 4 are located in the cover 6. A material inlet and outlet 9 is arranged on the side of the cover 6, and a safety grating 7 is arranged at the material inlet and outlet 9. This design can improve the safety of the operator and prevent the equipment from hurting people.

[0053] Further, such as Figure 1As shown, a human-machine interaction device 8 is provided on the hood 6, and the staff can perform parameter testing and other settings on this device. The common human-machine interaction device 8 is a touch screen.

[0054] Specifically, in this embodiment, Figure 2 and Figure 3 As shown, the transverse movement module 2 includes: a translation device 21 and a fixture 22. The translation device 21 is horizontally fixedly installed on the chassis 1. The fixture 22 is arranged on the translation device 21. The fixture 22 is driven to translate by the translation device 21. An IGBT module 5 is placed on the fixture 22.

[0055] Further, such as Figure 3 As shown, the transverse movement module 2 also includes a photoelectric switch 23 and a limit block 24. When the translation device 21 drives the fixture 22 to translate and touch the limit block 24, the fixture 22 just triggers the photoelectric switch 23. In this design, the photoelectric switch 23 and the limit block 24 can be used to control the translation device 21 to drive the IGBT module 5 on the fixture 22 to move accurately to the designated detection position to accept the PIN needle detection operation of the needle shifting mechanism 4. The photoelectric switch 23 and the limit block 24 jointly detect and limit the position of the fixture 22, which is a double insurance to ensure that the fixture 22 moves accurately into place, which is beneficial for the subsequent machine vision device 3 to smoothly capture the image of the IGBT module 5 on the fixture 22, thereby obtaining the position of each PIN needle on the IGBT module 5.

[0056] Specifically, in this embodiment, Figure 2 and Figure 4 As shown, the machine vision device 3 includes: a mounting frame 31, a light source 32, and a lifting device 33. The mounting frame 31 is fixedly mounted on the chassis 1, the light source 32 is fixedly connected to the mounting frame 31, the lifting device 33 is vertically fixedly mounted on the mounting frame 31, and a visual camera 34 is arranged on the lifting device 33. The visual camera 34 is located directly above the light source 32, and the lifting device 33 can adjust the position of the visual camera 34 to facilitate it to obtain clear images.

[0057] Further, such as Figure 4 As shown, a calibration plate 35 is disposed directly below the light source 32 , and the calibration plate 35 is fixedly connected to the mounting frame 31 .

[0058] In this embodiment, the IGBT module 5 is manually placed on the jig 22 through the feed port 9, and then the transverse movement module 2 drives the jig 22 to move to the detection position. Then the machine vision device 3 photographs the IGBT module 5 and transmits the photographing information to the machine vision system. The machine vision system analyzes and identifies the positions of each PIN needle on the IGBT module 5, and then transmits the position information of each PIN needle to the controller in the chassis 1. The controller controls the pin shifting mechanism 4 to perform PIN needle detection. After the detection is completed, the transverse movement module 2 drives the jig 22 to move to the feed port 9, and the IGBT module 5 that has been detected is manually removed from the jig 22, and then the next IGBT module 5 to be detected is replaced until all IGBT modules 5 have completed the detection work.

[0059] In this embodiment, if Figure 2 and Figure 5 As shown, the needle shifting mechanism 4 includes: a three-axis moving device, an axial force sensor 45, and a needle shifting member 46. The three-axis moving device is installed on the chassis 1, and the axial force sensor 45 is installed on the three-axis moving device. The three-axis moving device drives the axial force sensor 45 to move along the XYZ three-axis directions.

[0060] Specifically, Figure 5 As shown, the three-axis moving device is composed of an X-axis translation device 41, a Y-axis translation device 42, and a Z-axis lifting device 43. The X-axis translation device 41 is fixedly installed on the chassis 1, and the Y-axis translation device 42 is connected to the X-axis translation device 41, and the Y-axis translation device 42 is driven to translate along the X-axis through the X-axis translation device 41. The Z-axis lifting device 43 is installed on the Y-axis translation device 42, and the Z-axis lifting device 43 is driven to translate along the Y-axis through the Y-axis translation device 42. The axial force sensor 45 is connected to the Z-axis lifting device 43, and the axial force sensor 45 is driven to be lifted and lowered along the Z-axis through the Z-axis lifting device 43.

[0061] In this embodiment, if Figure 5 As shown, the needle shifting member 46 is fixedly installed directly below the axial force sensor 45. The needle shifting member 46 can swing relative to the Z-axis lifting device 43. The axial force sensor 45 is used to detect the axial thrust of the needle shifting member 46 on it, that is, the upward pressure of the needle shifting member 46 on it. When the needle shifting member 46 swings, one end of its upper surface in the swinging direction pushes the axial force sensor 45. At this time, the axial force sensor 45 can detect the upward pressure of the needle shifting member 46 on it.

[0062] In this embodiment, the axial force sensor is a multi-dimensional force sensor.

[0063] In this embodiment, if Figure 5As shown, a pin insertion hole 47 is provided on the lower surface of the pin-setting member 46 , and the upper end of the PIN pin can be inserted into the pin insertion hole 47 .

[0064] Furthermore, in order to facilitate the connection between the axial force sensor 45 and the Z-axis lifting device 43, as shown in FIG. Figure 5 As shown, a mounting plate 44 is fixedly mounted on the Z-axis lifting device 43 , and the axial force sensor 45 is fixedly mounted on the mounting plate 44 .

[0065] In this embodiment, after the positions of the PIN pins on the IGBT module 5 are identified, the controller controls the three-axis moving device according to the positions of the PIN pins to first drive the pin shifting member 46 to move to the top of the PIN pin, and then drives the pin shifting member 46 to descend so that the upper end of the PIN pin is inserted into the pin insertion hole 47, and then drives the pin shifting member 46 to move slightly in the horizontal direction to generate a thrust on the PIN pin. At this time, the reaction force of the PIN pin on the pin shifting member 46 causes the pin shifting member 46 to swing, and then the axial force sensor 45 detects the upper pressure of the pin shifting member 46 on it, and the axial force sensor 45 transmits the detection data to the processor in real time. Under normal circumstances, the PIN pin is firmly welded, and the position of the pin shifting member 46 moves horizontally. The greater the displacement, the greater the swing amplitude of the needle shifting member 46, and the greater the upward pressure of the needle shifting member 46 on it detected by the axial force sensor 45. If the PIN pin is not welded firmly and is loose, then as the displacement of the needle shifting member 46 moves horizontally increases, the axial force sensor 45 detects that the upward pressure of the needle shifting member 46 on it is not gradually increasing as under normal circumstances. Based on this abnormal detection data, it is possible to accurately identify and determine whether the PIN pin is welded firmly. After a PIN pin is detected, the three-axis moving device drives the needle shifting member 46 to move up and away, and then detects the next PIN pin until the PIN pin on the IGBT module 5 is detected. During the detection process, the processor generates corresponding detection data for each PIN pin and stores it for review.

[0066] In this embodiment, after the upper end of the PIN pin is inserted into the pin hole 47, the horizontal displacement of the pin moving member 46 cannot be too large, otherwise the firmly welded PIN pin will be damaged. The specific displacement amount can be flexibly set according to the actual PIN pin situation, as long as it can be determined whether the PIN pin is firmly welded.

[0067] Furthermore, in the present embodiment, a cross groove 48 is provided on the lower surface of the needle shifting member 46, and the center of the cross groove 48 is coaxial with the pin insertion hole 47. The provision of the cross groove 48 does not affect the needle shifting of the needle shifting member 46, and facilitates the separation and combination of the needle shifting member 46 from the PIN pin without moving up and down (the three-axis moving device drives the needle shifting member 46 to move horizontally so that the PIN pin leaves the cross groove 48 and separates from the needle shifting member 46, and the next PIN pin extends into the pin insertion hole 47 through the cross groove 48, without first controlling the needle shifting member 46 to rise and separate from the PIN pin, and then controlling the needle shifting member 46 to descend so that the next PIN pin extends into the pin insertion hole 47), thereby speeding up the inspection speed.

[0068] It can be seen that the pin-moving device for the PIN pin of the IGBT module 5 of the present embodiment can replace manual work to complete the pin-moving action of the PIN pin, and use the axial force sensor 45 to detect and determine whether the PIN pin welding is reliable during the pin-moving process, and generate corresponding test data for each PIN pin for review, thereby realizing the binding of the test results and the PIN pin, eliminating the trouble of manually recording the test data, and compared with manual detection, the detection accuracy is high, there is no problem of being affected by human subjective operation differences, the inspection speed is fast, the efficiency is high, and the inspection accuracy is high.

[0069] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the inventive concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A pin-shifting device for an IGBT module PIN pin, characterized in that: It includes a chassis and a traverse module, a machine vision device and a needle-shifting mechanism arranged on the chassis; The traverse module comprises: The first translation device is horizontally fixedly mounted on the chassis; A jig is arranged on the first translation device, and the first translation device drives the jig to translate; The machine vision device comprises: Mounting frame, fixedly mounted on the chassis; A light source is fixedly connected to the mounting frame; A lifting device 1 is vertically fixedly mounted on the mounting frame, and a visual camera is arranged on the lifting device 1, and the visual camera is located directly above the light source; The needle-setting mechanism comprises: A three-axis moving device, mounted on the chassis; The axial force sensor is installed on the three-axis moving device, and the three-axis moving device drives the axial force sensor to move along the XYZ three-axis directions; The pin-shifting member is installed directly below the axial force sensor. A pin insertion hole is provided on the lower surface of the pin-shifting member, and the upper end of the PIN pin can be inserted into the pin insertion hole.

2. A pin-shifting device for an IGBT module PIN pin as claimed in claim 1, characterized in that: The transverse movement module also includes a photoelectric switch and a limit block. When the translation device drives the fixture to translate and touch the limit block, the fixture just triggers the photoelectric switch.

3. A pin-shifting device for an IGBT module PIN pin as claimed in claim 1, characterized in that: An IGBT module is placed on the fixture.

4. A pin-shifting device for an IGBT module PIN pin as claimed in claim 1, characterized in that: A calibration plate is arranged directly below the light source, and the calibration plate is fixedly connected to the mounting frame.

5. The pin-shifting device for IGBT module PIN pins according to claim 1, characterized in that: The three-axis moving device is composed of an X-axis translation device, a Y-axis translation device, and a Z-axis lifting device. The X-axis translation device is fixedly installed on the chassis, the Y-axis translation device is connected to the X-axis translation device, and the Y-axis translation device is driven to translate along the X-axis through the X-axis translation device. The Z-axis lifting device is installed on the Y-axis translation device, and the Z-axis lifting device is driven to translate along the Y-axis through the Y-axis translation device. The axial force sensor is connected to the Z-axis lifting device, and the axial force sensor is driven to be lifted and lowered along the Z-axis through the Z-axis lifting device.

6. A pin-shifting device for an IGBT module PIN pin as claimed in claim 5, characterized in that: A mounting plate is installed on the Z-axis lifting device, and the axial force sensor is installed on the mounting plate.

7. The pin-shifting device for IGBT module PIN pins according to claim 1, characterized in that: The lower surface of the pin-shifting member is provided with a cross groove, and the center of the cross groove is coaxial with the pin insertion hole.

8. The pin-shifting device for IGBT module PIN pins according to claim 1, characterized in that: The chassis is provided with a hood, the transverse movement module, the machine vision device and the needle-shifting mechanism are located in the hood, and a material inlet and outlet are provided on the side of the hood.

9. A pin-shifting device for IGBT module PIN pins as claimed in claim 8, characterized in that: A safety grating is arranged at the material inlet and outlet.

10. The pin-shifting device for IGBT module PIN pins according to claim 8, characterized in that: A human-machine interaction device is arranged on the machine cover.

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