Frequency converter assembly line

Abstract

The invention belongs to the field of frequency converter production and manufacturing, and discloses a frequency converter assembly line which comprises an annular conveying line, and automatic frequency converter component assembling equipment, a truss manipulator, an NG cache machine, a frequency converter component cache unit, a power-on debugging system, hoisting equipment and a manual frequency converter assembling unit which are arranged on the outer edge of the annular conveying line, and a wire inner and outer manual assembly unit pretreatment workbench is configured. The frequency converter assembly line is high in assembly efficiency, good in stability and high in applicability, supports collinear production of different types of frequency converters, supports a production mode of combining manual assembly and automatic assembly, and supports assembly line type assembly work and fixed type assembly work at the same time.

Description

Technical Field

[0001] The invention belongs to the field of frequency converter production and manufacturing, and in particular relates to a frequency converter assembly line. Background Art

[0002] The variable-frequency drive (VFD) is a power control device that uses frequency conversion technology and microelectronics technology to control AC motors by changing the frequency of the motor's working power supply. The inverter is mainly composed of rectification (AC to DC), filtering, inversion (DC to AC), braking unit, drive unit, detection unit, and microprocessor unit. The inverter adjusts the voltage and frequency of the output power supply by the internal IGBT switching, and provides the required power supply voltage according to the actual needs of the motor, thereby achieving the purpose of energy saving and speed regulation. In addition, the inverter has many protection functions, such as over-current, over-voltage, overload protection, etc.

[0003] As the chemical industry grows and develops, the demand for electric energy is also increasing, and the corresponding output of frequency converters is increasing. The traditional production method of frequency converters is manual assembly, which is inefficient, has high labor costs, poor stability, and is prone to defective products.

[0004] In order to meet the needs of automated production as much as possible, our company has developed an assembly line for inverter customers to improve the production efficiency and quality of inverters. Summary of the invention

[0005] In view of this, the object of the present invention is to provide a frequency converter assembly line. The present invention aims to solve the problems of low efficiency, poor stability and easy production of defective products in traditional manual frequency converter assembly.

[0006] To achieve the above-mentioned object, the present invention provides a frequency converter assembly line, comprising a ring conveyor line and frequency converter component automatic assembly equipment, a truss manipulator, an NG buffer machine, a frequency converter component buffer unit, a power-on debugging system, a hoisting device, a frequency converter manual assembly unit, and an in-line and out-line manual assembly unit pretreatment workbench;

[0007] The inverter component automatic assembly equipment includes a support frame and an IGBT gluing module, a drive board assembly module and a terminal board assembly module arranged on the support frame. A plurality of placement grooves are provided at one end of the upper side of the support frame away from the annular conveyor line. A tray is placed in the placement groove. The tray is used to hold the IGBT, the main control board assembly, the drive board assembly and the terminal board assembly. A robot slide fixedly connected to the support frame is provided between the IGBT gluing module, the drive board assembly module and the terminal board assembly module and the placement groove. A six-axis linkage robot with a gripper is provided on the robot slide. The robot slide is equipped with a drive motor for driving the six-axis linkage robot to move horizontally.

[0008] The truss manipulator is used to transport the housing, bottom plate and some parts of the inverter to the circular conveyor line for the finished inverter to be assembled off the line;

[0009] An assembly line is provided between the frequency converter component automatic assembly equipment and the annular conveyor line;

[0010] A centering assembly module is provided at one end of the assembly line close to the automatic assembly equipment for frequency converter components, and the centering assembly module is used to center the product on the carrier and assist in assembly;

[0011] The circular conveyor line is provided with a plurality of carriers, which are used to load the base plate, main control board, drive board, terminal board and NG products assembled by the inverter component automatic assembly equipment, and are used to load the inverter components and finished products transported to the circular conveyor line;

[0012] The NG buffer machine is arranged at the bend of the circular conveyor line, and the NG buffer machine is used to remove NG products assembled by the automatic assembly equipment of the frequency converter components;

[0013] The inverter component cache unit is used to cache the semi-finished components output by the inverter component automatic assembly equipment;

[0014] The power-on debugging system is used to perform power-on debugging on the frequency converter;

[0015] The hoisting equipment includes a double-speed chain streamline, a manual tool rack and a cantilever crane, which are used for the emergency online installation of the reactor and the inverter housing;

[0016] The inverter manual assembly unit is used to assemble the finished inverter product;

[0017] The pre-processing workbench of the in-line and out-of-line manual assembly units includes a work surface and auxiliary tools for grinding and trimming the inverter components;

[0018] The inverter assembly line is also equipped with a high-definition vision system, which is used to assist in the loading and unloading and assembly of inverter housings and finished inverter products.

[0019] Furthermore, the IGBT glue coating module comprises a three-axis automatic coating frame, a glue wiping mechanism and a plurality of IGBT positioning mechanisms arranged on a support frame;

[0020] The free end of the three-axis automatic coating frame is fixedly connected with a glue applicator, and the glue applicator includes a glue cylinder and a coating scraper arranged on the three-axis automatic coating frame, and a glue outlet is opened at the bottom of the coating scraper;

[0021] The IGBT positioning mechanism is used to clamp, flip and rotate the IGBT to be coated with glue;

[0022] The glue erasing mechanism is used to remove the thermal grease remaining on the glue outlet of the coating scraper (1003).

[0023] Furthermore, the IGBT positioning mechanism includes a rotating cylinder, the output end of the upper side of the rotating cylinder is fixedly connected to a U-shaped bracket, the upper end of the bracket is rotatably connected to a carrier plate, a flip cylinder is provided on the outside of the bracket, the output end of the flip cylinder is fixedly connected to the carrier plate, a slot matching the IGBT is provided on the carrier plate, and clamping cylinders fixedly connected to the carrier plate are provided at both ends of the slot, and the two clamping cylinders are used to clamp and fix the IGBT placed in the slot. The IGBT positioning mechanism is also equipped with a material sensor, which can realize automatic alarm for material taking and detection of the presence or absence of material.

[0024] Furthermore, the glue erasing mechanism includes a glue erasing box, a glue collecting box is provided in the glue erasing box, two arc grooves communicating with the glue collecting box are provided on the upper side of the glue erasing box, a stepper motor is provided at the lower part of the inner cavity of the glue erasing box, the output end of the stepper motor extends out of the glue erasing box and is fixedly connected to a driving turntable, a driven turntable rotatably connected to the glue erasing box is provided on one side of the driving turntable, a glue erasing table and two guide rollers fixedly connected to the glue erasing box are also provided between the driven turntable and the driving turntable, a glue erasing tape is wound around the driven turntable, and the free end of the glue erasing tape is wound around the driving turntable via two guide rollers and the glue erasing table.

[0025] Further, the drive plate assembly module includes a first three-axis locking frame and a drive plate positioning mechanism arranged on the support frame, the free end of the first three-axis locking frame is fixedly connected to the first mounting plate, the first mounting plate is provided with a first offset cylinder and a first guide rail, a second offset cylinder and a second guide rail, a visual lifting cylinder and a third guide rail, the first guide rail is slidably connected to a first slide with an aircraft screw machine installed, the aircraft screw machine is equipped with an aircraft screw feeder, the telescopic end of the first offset cylinder is fixedly connected to the first slide, the second guide rail is slidably connected to a second slide with a screw machine installed, the screw machine is equipped with a screw feeder, the telescopic end of the second offset cylinder is fixedly connected to the second slide, the third guide rail is slidably connected to a third slide with a camera installed, the telescopic end of the visual lifting cylinder is fixedly connected to the third slide, the first mounting plate is also provided with an aircraft buckle pressing cylinder matched with the aircraft screw machine and a vacuum generator matched with the aircraft screw machine and the screw machine;

[0026] The drive plate positioning mechanism is used to limit and fix the drive plate so as to facilitate assembly of the drive plate.

[0027] The cam is an angular channel formed between a first plate and a second plate, the second plate being arranged on a line extending along the length of the cam and the second plate being arranged on a line extending along the length of the cam.

[0028] Further, the terminal board assembly module includes a second three-axis locking rack fixedly connected to the support frame, a terminal board positioning mechanism and a terminal plane motion mechanism, the free end of the second three-axis locking rack is fixedly connected to a second mounting plate, the second mounting plate is provided with a fourth offset cylinder, a fourth guide rail and a camera bracket, the fourth guide rail is slidably connected to a fourth slide mounted with a screw machine, the screw machine is equipped with a screw feeder, the second mounting plate is also provided with a vacuum generator matched with the screw machine, the telescopic end of the fourth offset cylinder is fixedly connected to the fourth slide, and the camera bracket is installed with a camera;

[0029] The terminal board positioning mechanism is used to clamp and fix terminal boards of different sizes;

[0030] The terminal plane movement mechanism is used to fix the terminal and move the terminal to be directly below the hole position of the terminal board to be assembled.

[0031] Furthermore, the terminal board positioning mechanism is located on the inner side of the second three-axis locking frame, and the terminal board positioning mechanism includes two vertical baffles fixedly connected to the support frame, and the outer sides of the two vertical baffles are provided with terminal board lifting cylinders, and the telescopic ends of the two terminal board lifting cylinders are fixedly connected to a mounting frame slidably connected to the vertical baffles, and first limiting rails are provided on the left and right inner sides of the mounting frame, and first limiting blocks are slidably connected to both ends of the first limiting rails, and side clamps are fixedly connected between the two first limiting blocks corresponding to the left and right sides of the mounting frame, and the two side clamps are parallel to each other, and the side clamps are perpendicular to the vertical baffles. The left and right inner sides of the mounting frame are rotatably connected to first bidirectional threaded rods, and the two threaded sections of a single first bidirectional threaded rod are respectively threadedly connected to the two first limit blocks on the same side of the mounting frame, and a transmission wheel is fixedly connected to the middle portion of one of the first bidirectional threaded rods, and a first adjusting motor is provided on the outer side of the mounting frame. The output end of the motor is fixedly connected to a driving wheel, and the driving wheel is transmitted to the transmission wheel through a first belt, and a back plate that abuts against the vertical baffle is provided on the front side of the installation frame, and the two first bidirectional threaded rods are both penetrated by the back plate and fixedly connected to the driven wheel, and the two driven wheels are connected through a second belt transmission; a second limiting rail is provided on the front and rear inner sides of the installation frame, and both ends of the second limiting rail are slidably connected to the second limiting block, and an end clamping strip is fixedly connected between the two second limiting blocks corresponding to the front and rear sides of the installation frame, and the two end clamping strips are parallel to each other. The rear inner side of the installation frame is rotatably connected to the second bidirectional threaded rod, and the two threaded sections of the second bidirectional threaded rod are respectively threadedly connected to the two second limiting blocks, and the middle part of the second bidirectional threaded rod is fixedly connected to the passive wheel, and a second adjusting motor is provided on the outside of the installation frame, and the output end of the second adjusting motor is fixedly connected to the driving wheel, and the driving wheel is transmission-connected to the passive wheel through a third belt.

[0032] Furthermore, the terminal plane motion mechanism is located on the lower inner side of the two vertical baffles, and the terminal plane motion mechanism includes an X-direction slide rail, a first slide seat is slidably connected to the X-direction slide rail, a first linear motor for driving the first slide seat to move along the X-direction slide rail is provided on one side of the X-direction slide rail, a Y-direction slide rail is fixedly connected to the first slide seat, a second slide seat is slidably connected to the Y-direction slide rail, a second linear motor for driving the second slide seat to move along the Y-direction slide rail is provided on one side of the Y-direction slide, two relatively arranged positioning cylinders are installed on the upper side of the second slide, the telescopic ends of the two positioning cylinders are fixedly connected to clamps, and a material sensor is also provided on one side of the second slide seat.

[0033] Furthermore, the centering assembly module includes a mounting groove arranged on the support frame, a base is arranged in the mounting groove, a three-axis cylinder is installed in the middle of the base, the output end of the three-axis cylinder is fixedly connected to a U-shaped seat, the upper end of the U-shaped seat is fixedly connected to a fixing plate, the front and rear ends of the lower side of the fixing plate are slidably connected to a push-down plate, the two push-down plates are driven by a cylinder and a gear rack bidirectional telescopic mechanism to make the two push-down plates relatively close to or away from each other, three limit rods are fixedly connected to the upper side of each push-down plate, and the fixing plate Slide grooves are provided at the positions corresponding to the limit rods of the lower push plates. The upper left and right ends of the upper side of the fixed plate are slidably connected with upper push plates. The two upper push plates are also driven by a cylinder and a gear rack bidirectional telescopic mechanism to make the two upper push plates relatively close to or far away from each other. The upper push plates are also fixedly connected with limit rods. The fixed plate is also provided with evenly distributed columns, and the upper ends of the columns are provided with flow eyes. The left and right ends of the base are provided with vertically arranged pen-shaped cylinders, and the output end of the pen-shaped cylinder extends out of the fixed plate and is fixedly connected with a latch.

[0034] A motor-driven roller group is installed at a position corresponding to the assembly line on the inner side of the mounting groove, and the roller group is used to support and convey the carrier. A third three-axis locking frame fixedly connected to the support frame is provided above the roller group, and a third mounting plate is fixedly connected to the free end of the third three-axis locking frame, and a fifth offset cylinder and a fifth guide rail, a sixth offset cylinder and a sixth guide rail, a visual lifting cylinder and a seventh guide rail are provided on the third mounting plate, and a fifth slide with a screw machine installed is slidably connected on the fifth guide rail, and the telescopic end of the fifth offset cylinder is fixedly connected to the fifth slide, and the sixth slide with a screw machine installed is slidably connected on the sixth guide rail, and the telescopic end of the sixth offset cylinder is fixedly connected to the sixth slide, and the seventh guide rail is slidably connected to the seventh slide with a camera installed, and the telescopic end of the visual lifting cylinder is fixedly connected to the seventh slide, and the screw machines are all equipped with screw feeders, and a vacuum generator matching the screw machine is also provided on the third mounting plate;

[0035] The carrier is arranged in the form of a rectangular plate, a through slot is provided at a position corresponding to the limit rod, a through hole is provided at a position corresponding to the column, and a latch lifting hole is provided at a position corresponding to the latch.

[0036] Beneficial effects:

[0037] 1. Support the production mode that combines manual assembly with automatic assembly, and support both assembly-type and fixed-type assembly operations. In the inverter assembly line of the present invention, the manual assembly unit of the inverter and each automation module are provided with a conveyor line to be connected with the intermediate ring conveyor line. Therefore, the inverter to be assembled can be reasonably transferred between the manual assembly workstation and the automation module through the ring conveyor line, and the manual assembly and the automatic assembly can be well combined. In addition, the ring conveyor line only plays the role of logistics circulation within the line. For the manual assembly workstation, it can support both assembly-type and fixed-type assembly operations.

[0038] 2. Support the co-production of different types of frequency converters. The frequency converters to be assembled in the present invention all use the same tooling pallet for in-line circulation, and the tooling pallet can be compatible with the circulation requirements of different types of frequency converters. A power-on debugging system is provided, which can meet the power-on debugging requirements of different types of frequency conversion, and support the rapid connection and conduction of the frequency converter power-on debugging system. A robot slide and a six-axis linkage robot are provided, and a plurality of different assembly platforms are configured at the same time, which can well meet the flexible assembly of different components of different types of frequency converters.

[0039] 3. Supports automatic loading and unloading of inverter housings and finished products. A truss manipulator is used to move the inverter housing delivered to the production line by AGV to the circular conveyor line for circulation. At the same time, it supports the assembly of finished products from the circular conveyor line to the AGV shelf. The entire loading and unloading process does not require the participation of a driving vehicle.

[0040] 4. Support inverter automatic assembly component cache and NG product cache. The present invention is equipped with an inverter component cache unit and an NG cache machine that are connected to the intermediate ring conveyor line, and supports coordinated operation control with other process modules, and supports inverter automatic assembly component cache and NG product cache.

[0041] 5. The inverter uses a circular line to circulate between different units, which greatly simplifies the logistics operation within the line. The present invention uses a circular conveyor line to connect the manual assembly unit of the inverter and various automation modules. The assembly components and the inverter assembly semi-finished products are assembled on tooling pallets and circulated between different units through a circular conveyor line to complete all assembly and debugging links, and finally assembled into finished products. The entire in-line logistics operation is simple and clear.

[0042] Other advantages, objectives and features of the present invention will be described in the following description to some extent, and to some extent, will be obvious to those skilled in the art based on the following examination and study, or can be taught from the practice of the present invention. The objectives and other advantages of the present invention can be realized and obtained through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 It is a structural schematic diagram of a frequency converter assembly line of the present invention;

[0044] Figure 2 It is a structural diagram of the automatic assembly equipment for frequency converter components;

[0045] Figure 3 It is a structural schematic diagram of the IGBT glue coating module;

[0046] Figure 4 It is a structural schematic diagram of the IGBT positioning mechanism;

[0047] Figure 5 It is a structural schematic diagram of the eraser mechanism;

[0048] Figure 6 A schematic diagram of the structure of the driver board assembly module;

[0049] Figure 7 It is a structural schematic diagram of the driving plate positioning mechanism from the first perspective;

[0050] Figure 8 It is a structural schematic diagram of the driving plate positioning mechanism from a second viewing angle;

[0051] Fig. 9 A schematic diagram of the structure of the terminal board assembly module;

[0052] Fig.10 It is a structural schematic diagram of the terminal board positioning mechanism and the terminal plane motion mechanism from the first perspective;

[0053] Fig.11 It is a structural schematic diagram of the terminal board positioning mechanism and the terminal plane motion mechanism from a second perspective;

[0054] Fig.12 is a schematic diagram of the structure of the vehicle;

[0055] Fig.13 It is a structural schematic diagram of the centering assembly module;

[0056] Fig.14 It is a structural schematic diagram of the centering assembly module centering component from the first perspective;

[0057] Fig.15 It is a structural schematic diagram of the centering assembly module centering component from a second perspective;

[0058] The reference numerals in the figure are as follows: circular conveyor line 1, inverter component automatic assembly equipment 2, truss manipulator 3, NG buffer machine 4, inverter component buffer unit 5, lifting equipment 6, inverter manual assembly unit 7, manual assembly unit pretreatment workbench 8, support frame 9, IGBT gluing module 10, three-axis automatic coating frame 1001, screw pump type glue coater 1002, coating scraper 1003, IGBT positioning mechanism 102, rotating cylinder 1021, bracket 1022, carrier plate 1023, flip cylinder 1024, clamping cylinder 1025, glue erasing mechanism 103, glue erasing box 1031, arc Slot 1032, active turntable 1033, driven turntable 1034, eraser table 1035, guide roller 1036, eraser tape 1037, drive plate assembly module 11, first three-axis locking frame 1101, first mounting plate 1102, first offset cylinder 1103, second offset cylinder 1104, visual lifting cylinder 1105, aircraft screw machine 1106, aircraft screw feeder 1107, screw machine 1108, screw feeder 1109, camera 1110, aircraft screw press cylinder 1111, drive plate positioning mechanism 112, receiving column 1121, receiving plate 1122, first vertical plate 11 23. second vertical plate 1124, longitudinal rail 1125, transverse rail 1126, longitudinal seat 1127, limit plate 1128, limit block 1129, external pressure cylinder 1130, terminal board assembly module 12, second three-axis locking rack 1201, second mounting plate 1202, fourth offset cylinder 1203, terminal plane motion mechanism 121, X-direction slide rail 1211, Y-direction slide rail 1212, terminal board positioning mechanism 122, vertical baffle 1221, terminal board lifting cylinder 1222, mounting frame 1223, first limit rail 1224, first limit block 1225, side clamp 1226, The first bidirectional threaded rod 1227, the transmission wheel 1228, the first adjusting motor 1229, the driving wheel 1230, the abutment plate 1231, the driven wheel 1232, the second limiting rail 1233, the second limiting block 1234, the end clamp 1235, the second bidirectional threaded rod 1236, the passive wheel 1237, the second adjusting motor 1238, the driving wheel 1239, the assembly line 14, the centering assembly module 15, the base 151, the three-axis cylinder 152, the U-shaped seat 153, the fixing plate 154, the lower push plate 155, the limiting rod 156, the upper push plate 157, the column 158, the pen-shaped cylinder 159, and the roller group 16. DETAILED DESCRIPTION

[0059] In order to make the technical solutions, advantages and purposes of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the described embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work belong to the protection scope of this application.

[0060] like Figure 1-Figure 15 As shown, the present invention provides a frequency converter assembly line, comprising a ring conveyor line 1 and a frequency converter component automatic assembly device 2, a truss manipulator 3, an NG buffer machine 4, a frequency converter component buffer unit 5, a power-on debugging system, a hoisting device 6, a frequency converter manual assembly unit 7, and an in-line and out-line manual assembly unit pretreatment workbench 8;

[0061] The inverter component automatic assembly equipment 2 includes a support frame 9 and an IGBT gluing module 10, a drive board assembly module 11 and a terminal board assembly module 12 arranged on the support frame 9. A plurality of placement grooves are provided at one end of the upper side of the support frame 9 away from the annular conveyor line 1. Trays are placed in the placement grooves, and the trays are used to hold IGBTs, main control board components, drive board components and terminal board components; a robot slide fixedly connected to the support frame 9 is provided between the IGBT gluing module 10, the drive board assembly module 11 and the terminal board assembly module 12 and the placement grooves, a six-axis linkage robot with a gripper is installed on the robot slide, and the robot slide is equipped with a drive motor for driving the six-axis linkage robot to move horizontally;

[0062] The truss manipulator 3 is used to transport the housing, bottom plate and some parts of the inverter to the circular conveyor line 1 for the finished inverter to be assembled off the line;

[0063] An assembly line 14 is provided between the frequency converter component automatic assembly equipment 2 and the ring conveyor line 1;

[0064] A centering assembly module 15 is provided at one end of the assembly line 14 close to the inverter component automatic assembly equipment 2. The centering assembly module 15 is used to center the product on the carrier and assist in assembly;

[0065] A plurality of carriers (i.e., tooling pallets) are placed on the circular conveyor line 1. The carriers are used to load the base plate, main control board, drive board, terminal board and NG products assembled by the inverter component automatic assembly equipment 2, and are used to load the inverter components and finished products transported to the circular conveyor line 1;

[0066] The NG buffer machine 4 is arranged at the bend of the circular conveyor line 1, and the NG buffer machine 4 is used to remove the NG products assembled by the inverter component automatic assembly equipment 2;

[0067] The frequency converter component cache unit 5 is used to cache the semi-finished components output by the frequency converter component automatic assembly device 2;

[0068] The power-on debugging system is used to power-on debug the inverter;

[0069] Lifting equipment 6 includes a double-speed chain streamline, a manual tool rack and a cantilever crane, which are used for the emergency online installation of the reactor and the inverter housing;

[0070] The inverter manual assembly unit 7 is used to assemble the finished inverter product;

[0071] The NG buffer machine 4, the inverter component buffer unit 5, the power-on debugging system and the inverter manual assembly unit 7 are all provided with a conveyor line connected to the middle ring conveyor line 1;

[0072] The pre-processing workbench 8 of the in-line and out-of-line manual assembly unit includes a work surface and auxiliary tools for grinding and trimming the inverter components;

[0073] The inverter assembly line is also equipped with a high-definition vision system, which is used to assist in the loading and unloading and assembly of inverter housings and finished inverter products.

[0074] As a preferred embodiment of the present invention, the IGBT glue coating module 10 includes a three-axis automatic coating frame 1001, a glue erasing mechanism 103 and a plurality of IGBT positioning mechanisms 102 arranged on a support frame 9;

[0075] The free end of the three-axis automatic coating frame 1001 is fixedly connected with a glue applicator, which includes a glue cylinder 1002 and a coating scraper 1003 arranged on the three-axis automatic coating frame 1001, and a glue outlet is provided at the bottom of the coating scraper 1003;

[0076] The IGBT positioning mechanism 102 is used to clamp, flip and rotate the IGBT to be coated with glue. The IGBT positioning mechanism 102 includes a rotating cylinder 1021. The output end of the upper side of the rotating cylinder 1021 is fixedly connected to a bracket 1022 arranged in a U shape. The upper end of the bracket 1022 is rotatably connected to a carrier plate 1023. A flip cylinder 1024 is installed on the outer side of the bracket 1022. The output end of the flip cylinder 1024 is fixedly connected to the carrier plate 1023. A card slot matching the IGBT is opened on the carrier plate 1023. Clamping cylinders 1025 fixedly connected to the carrier plate 1023 are installed at both ends of the card slot. The two clamping cylinders 1025 are used to clamp and fix the IGBT placed in the card slot. The IGBT positioning mechanism 102 is also equipped with a material sensor, which can realize automatic alarm for material removal and detection of material presence or absence;

[0077] The glue erasing mechanism 103 is used to remove the thermal conductive silicone grease remaining at the glue outlet of the coating scraper 1003. The glue erasing mechanism 103 includes a glue erasing box 1031. A glue collecting box is arranged in the glue erasing box 1031. Two arc grooves 1032 communicating with the glue collecting box are arranged on the upper side of the glue erasing box 1031. A stepper motor is installed at the lower part of the inner cavity of the glue erasing box 1031. The output end of the stepper motor extends out of the glue erasing box 1031 and is fixedly connected to an active turntable 1033. The active turntable A driven turntable 1034 rotatably connected to the eraser box 1031 is provided on the left side of 1033, and a glue erasing table 1035 fixedly connected to the eraser box 1031 and two guide rollers 1036 are provided between the driven turntable 1034 and the driving turntable 1033. An eraser tape 1037 is wound around the driven turntable 1034, and the free end of the eraser tape 1037 is wound around the driving turntable 1033 via the two guide rollers 1036 and the eraser table 1035.

[0078] As a preferred embodiment of the present embodiment, the drive plate assembly module 11 includes a first three-axis locking frame 1101 and a drive plate positioning mechanism 112 arranged on the support frame 9. The first three-axis locking frame 1101 can realize XYZ three-axis movement. The free end of the first three-axis locking frame 1101 is fixedly connected to a first mounting plate 1102. The first mounting plate 1102 is equipped with a first offset cylinder 1103 and a first guide rail, a second offset cylinder 1104 and a second guide rail, a visual lifting cylinder 1105 and a third guide rail. The first guide rail is slidably connected to a first slide table equipped with an aircraft screw machine 1106, and the aircraft screw machine 1106 is equipped with an aircraft screw supply The feeder 1107, the telescopic end of the first offset cylinder 1103 is fixedly connected to the first slide, the second guide rail is slidably connected to the second slide installed with a screw machine 1108, the screw machine 1108 is equipped with a screw feeder 1109, the telescopic end of the second offset cylinder 1104 is fixedly connected to the second slide, the third guide rail is slidably connected to the third slide installed with a camera 1110, the telescopic end of the visual lifting cylinder 1105 is fixedly connected to the third slide, and the first mounting plate 1102 is also equipped with an aircraft pressing cylinder 1111 matched with the aircraft screw machine 1106 and a vacuum generator matched with the aircraft screw machine 1106 and the screw machine 1108;

[0079] The driving plate positioning mechanism 112 is used to limit and fix the driving plate so as to assemble the driving plate. The driving plate positioning mechanism 112 includes four receiving columns 1121 fixedly connected to the support frame 9. The upper end of the receiving column 1121 is fixedly connected to a receiving plate 1122. The upper outer edge of the receiving plate 1122 is provided with a first vertical plate 1123 and a second vertical plate 1124 perpendicular to each other. The receiving plate 1122 is provided with a longitudinal through groove and a transverse through groove. The lower side of the receiving plate 1122 is fixedly connected to a longitudinal track 1125 and a transverse track 1126. The longitudinal track 1125 is slidably connected to a longitudinal slider. The outer side of the longitudinal slider is fixedly connected to a longitudinal seat 11 27. The upper end of the longitudinal seat 1127 extends out of the longitudinal through slot and is fixedly connected with a limit plate 1128 corresponding to the first vertical plate 1123. A horizontal slider is slidably connected to the horizontal track 1126. The side of the horizontal slider is fixedly connected with a limit block 1129 extending out of the horizontal through slot. The limit block 1129 is opposite to the second vertical plate 1124. The longitudinal track 1125 and the horizontal track 1126 are both equipped with an external pressure cylinder 1130. The telescopic end of the external pressure cylinder 1130 equipped with the longitudinal track 1125 is fixedly connected to the longitudinal seat 1127, and the telescopic end of the external pressure cylinder 1130 equipped with the horizontal track 1126 is fixedly connected to the limit block 1129.

[0080] As a preferred embodiment of the present embodiment, the terminal board assembly module 12 includes a second three-axis locking rack 1201 fixedly connected to the support frame 9, a terminal board positioning mechanism 122 and a terminal plane motion mechanism 121, the free end of the second three-axis locking rack 1201 is fixedly connected to a second mounting plate 1202, the second mounting plate 1202 is installed with a fourth offset cylinder 1203, a fourth guide rail and a camera bracket, the fourth guide rail is slidably connected to a fourth slide mounted with a screw machine 1108, the screw machine 1108 is equipped with a screw feeder 1109, the second mounting plate 1202 is also equipped with a vacuum generator matched with the screw machine 1108, the telescopic end of the fourth offset cylinder 1203 is fixedly connected to the fourth slide, and the camera bracket is installed with a camera 1110;

[0081] The terminal board positioning mechanism 122 is used to clamp and fix terminal boards of different sizes. The terminal board positioning mechanism 122 is located on the inner side of the second three-axis locking frame 1201. The terminal board positioning mechanism 122 includes two vertical baffles 1221 fixedly connected to the support frame 9. Terminal board lifting cylinders 1222 are installed on the outer sides of the two vertical baffles 1221. The telescopic ends of the two terminal board lifting cylinders 1222 are fixedly connected to the installation frames 1223 that are slidably connected to the vertical baffles 1221. The left and right inner sides of the installation frame 1223 are provided with first limiting rails 1224. Both ends of the first limiting rails 1224 are slidably connected to the first limiting blocks 1 225, a side clamp 1226 is fixedly connected between the two first limit blocks 1225 corresponding to the left and right sides of the installation frame 1223, the two side clamps 1226 are parallel to each other, the side clamps 1226 and the vertical baffle 1221 are perpendicular to each other, the left and right inner sides of the installation frame 1223 are rotatably connected with first bidirectional threaded rods 1227, the two threaded sections of a single first bidirectional threaded rod 1227 are respectively threadedly connected to the two first limit blocks 1225 on the same side of the installation frame 1223, a transmission wheel 1228 is fixedly connected to the middle of one of the first bidirectional threaded rods 1227, and a first adjusting motor 1227 is installed on the left side of the installation frame 1223. 29, the output end of the first regulating motor 1229 is fixedly connected to a driving wheel 1230, and the driving wheel 1230 is connected to the transmission wheel 1228 through a first belt. A plate 1231 that abuts against the vertical baffle 1221 is provided on the front side of the mounting frame 1223, and two first bidirectional threaded rods 1227 are both passed through the plate 1231 and are fixedly connected to a driven wheel 1232, and the two driven wheels 1232 are connected through a second belt transmission; a second limiting rail 1233 is provided on the front and rear inner sides of the mounting frame 1223, and both ends of the second limiting rail 1233 are slidably connected to a second limiting block 1234, and the front and rear sides of the mounting frame 1223 correspond to An end clamping strip 1235 is fixedly connected between the two second limit blocks 1234, and the two end clamping strips 1235 are parallel to each other. A second bidirectional threaded rod 1236 is rotatably connected to the inner side of the rear of the installation frame 1223. The two threaded sections of the second bidirectional threaded rod 1236 are respectively threadedly connected to the two second limit blocks 1234. A passive wheel 1237 is fixedly connected to the middle part of the second bidirectional threaded rod 1236. A second adjusting motor 1238 is installed on the outer side of the rear of the installation frame 1223. A driving wheel 1239 is fixedly connected to the output end of the second adjusting motor 1238. The driving wheel 1239 is transmission-connected to the passive wheel 1237 through a third belt.

[0082] The terminal plane motion mechanism 121 is used to fix the terminal and move the terminal to the bottom of the hole of the terminal board to be assembled. The terminal plane motion mechanism 121 is located on the lower inner side of the two vertical baffles 1221. The terminal plane motion mechanism 121 includes an X-axis slide rail 1211, and a first slide seat is slidably connected to the X-axis slide rail 1211. A first linear motor for driving the first slide seat to move along the X-axis slide rail 1211 is provided on one side of the X-axis slide rail 1211. A Y-axis slide rail 1212 is fixedly connected to the first slide seat, and a second slide seat is slidably connected to the Y-axis slide rail 1212. A second linear motor for driving the second slide seat to move along the Y-axis slide rail 1212 is provided on one side of the Y-axis slide rail 1212. Two relatively arranged positioning cylinders are installed on the upper side of the second slide seat, and the telescopic ends of the two positioning cylinders are fixedly connected to clamps, and a material sensor is also provided on one side of the second slide seat.

[0083] As a preferred embodiment of the present embodiment, the centering assembly module 15 includes a mounting groove arranged on the support frame 9, in which a base 151 is installed, a three-axis cylinder 152 is installed in the middle of the upper side of the base 151, the output end of the three-axis cylinder 152 is fixedly connected with a U-shaped seat 153, the upper end of the U-shaped seat 153 is fixedly connected with a fixing plate 154, and the front and rear ends of the lower side of the fixing plate 154 are slidably connected with a push-down plate 155, and the two push-down plates 155 are driven by a cylinder and a gear rack bidirectional telescopic mechanism so that the two push-down plates 155 are relatively close to or away from each other, and three limit rods 156 are fixedly connected to the upper side of each push-down plate 155, and sliding grooves are provided on the fixed plate 154 corresponding to the positions of the limit rods 156 of the push-down plates 155. The upper left and right ends of the upper side of the fixed plate 154 are slidably connected with upper push plates 157, which are also driven by a cylinder and a gear rack bidirectional telescopic mechanism to make the two upper push plates 157 relatively close to or away from each other. The upper push plates 157 are also fixedly connected with a limit rod 156. The fixed plate 154 is also provided with evenly distributed columns 158, and the upper ends of the columns 158 are all equipped with flow eyes. The left and right ends of the base 151 are both equipped with vertically arranged pen-shaped cylinders 159, and the output end of the pen-shaped cylinder 159 extends out of the fixed plate 154 and is fixedly connected with a latch;

[0084] A motor-driven roller group 16 is installed at the position corresponding to the assembly line 14 on the inner side of the installation groove. The roller group 16 is used to support and convey the carrier. A third three-axis locking frame 13 fixedly connected to the support frame 9 is provided above the roller group 16. The free end of the third three-axis locking frame 13 is fixedly connected to the third mounting plate. The third mounting plate is provided with a fifth offset cylinder and a fifth guide rail, a sixth offset cylinder and a sixth guide rail, a visual lifting cylinder and a seventh guide rail. The fifth guide rail is slidably connected to a fifth slide with a screw machine installed on it, the telescopic end of the fifth offset cylinder is fixedly connected to the fifth slide, the sixth guide rail is slidably connected to a sixth slide with a screw machine installed on it, the telescopic end of the sixth offset cylinder is fixedly connected to the sixth slide, the seventh guide rail is slidably connected to a seventh slide with a camera installed on it, the telescopic end of the visual lifting cylinder is fixedly connected to the seventh slide, the screw machines are all equipped with screw feeders, and a vacuum generator matching the screw machines is also provided on the third mounting plate.

[0085] As a preferred embodiment of the present invention, the carrier is in the form of a rectangular plate, a through slot is provided at a position corresponding to the limit rod 156, a through hole is provided at a position corresponding to the column 158, and a latch lifting hole is provided at a position corresponding to the latch.

[0086] The assembly process of the frequency converter assembly line of the present invention is as follows:

[0087] In the automated assembly part, the tray containing the assembly parts of IGBT, main control board assembly, drive board assembly and terminal board assembly is first placed in the placement slot at the front end of the support frame 9 through the AGV. One type of assembly parts or a single assembly part is usually placed in one tray. Then, the six-axis linkage robot is driven by the drive motor to move along the robot slide, so that the six-axis linkage robot can move freely in the space above the support frame 9, thereby moving the parts required for assembly to the IGBT gluing module 10, the drive board assembly module 11, the terminal board assembly module 12 or the centering assembly module 15, thereby completing the assembly of the base plate and the IGBT, the assembly of the terminal row assembly, the assembly of the drive board assembly and the assembly of the main control board assembly. Among them, the assembly method of the drive board assembly is the same as that of the main control board assembly, and both are assembled using the drive board assembly module 11.

[0088] Assembly process of base plate and IGBT:

[0089] Gluing of IGBT: first adjust the position of the bracket 1022 by rotating the cylinder 1021, so as to adjust the standby posture and the handover posture of the IGBT positioning mechanism 102. After rotating to the handover posture, place the IGBT on the carrier 1023 of the IGBT positioning mechanism 102 by the six-axis linkage robot, and then clamp and fix the IGBT with the clamping cylinder 1025. After that, flip the carrier 1023 by the flipping cylinder 1024 so that the lower side of the IGBT faces upward, and then move the coating scraper 1003 to the top of the IGBT by the three-axis automatic coating frame 1001. The coating scraper 1003 scrapes the IGBT so that the thermal grease is evenly coated on the bottom plate, and then retract the clamping cylinder 1025 to release the fixation of the IGBT positioning mechanism 102, so that the IGBT with glue coating can be grabbed by the six-axis linkage robot later.

[0090] After the coating scraper 1003 is coated with glue, it needs to be cleaned, otherwise it will solidify and clog, affecting the subsequent coating. Cleaning process: The coating scraper 1003 is extended to the arc groove 1032 and slid through the three-axis automatic coating rack 1001, so that the thermal grease attached to the coating scraper 1003 falls into the glue collection box, and then the coating scraper 1003 is moved by the three-axis automatic coating rack 1001, so that the glue outlet at the lower end of the coating scraper 1003 is in close contact with the wiping tape 1037 on the wiping table 1035, and then the stepper motor is started, and the stepper motor drives the wiping tape 1037 to move and wrap around the active turntable 1033. During the movement of the wiping tape 1037, the glue outlet at the lower end of the coating scraper 1003 is further cleaned.

[0091] Bottom plate centering: first place the bottom plate on the carrier, and the carrier equipped with the bottom plate moves to the roller group 16 along the circular conveyor line 1 and the assembly line 14, then start the pen-shaped cylinder 159 to raise the latch, lift the carrier loaded with the bottom plate upward, and separate it from the roller group 16, and then start the three-axis cylinder 152, the output end of the three-axis cylinder 152 drives the U-shaped seat 153 and the fixed plate 154 to move upward, so that the column 158 rises, and the column 158 passes through the carrier through the through hole to lift the bottom plate, and at the same time, the limit rod 156 passes through the carrier through the through groove and is located on the outside of the bottom plate, and then start the cylinder matching the lower push plate 155 and the upper push plate 157, and the cylinder drives the corresponding two push plates to be relatively close through the gear rack bidirectional telescopic mechanism, and the limit rod 156 moves with the push plate, thereby driving the bottom plate to move toward the center under the support of the flow eyes of multiple columns 158.

[0092] Assembly of the base plate and IGBT: After the base plate is moved to the middle of the carrier, the glue-coated IGBT is grabbed by the six-axis linkage robot and placed on the base plate to be installed. Then, the positions of the two screw machine intelligent electric screwdrivers are adjusted through the third three-axis locking rack 13. The two screw machines are used to provide two types of screws for locking the IGBT, thereby locking the base plate and the IGBT, and finally assembling and fixing the base plate and the IGBT together.

[0093] After the base plate and IGBT are assembled, the three-axis cylinder 152 and the pen-shaped cylinder 159 are retracted, and the carrier, the assembled base plate and IGBT are placed on the roller group 16 again. The carrier enters the next unit with the roller group 16 and the assembly line 14 for subsequent finished product assembly.

[0094] Assembly process of the drive plate assembly: the six-axis linkage robot grabs the drive plate and places it on the receiving plate 1122, and then limits and fixes the drive plate. The longitudinally arranged external pressure cylinder 1130 contracts to drive the longitudinal slider to move inward along the longitudinal track 1125, thereby driving the longitudinal seat 1127 and the limit plate 1128 to move toward the first vertical plate 1123, until the limit plate 1128 and the first vertical plate 1123 abut and fix the front and rear sides of the drive plate; the transversely arranged external pressure cylinder 1130 contracts to drive the transverse slider to move inward along the transverse track 1126, thereby driving the limit block 1129 to move toward the second vertical plate 1124, until the limit block 1129 and the second vertical plate 1124 abut and fix the left and right sides of the drive plate.

[0095] After the drive plate is fixed, the parts to be assembled to the drive plate are fastened with buckles or screws. When using buckles to lock, start the buckle feeder 1107. There are two vibration plates inside the buckle feeder 1107, corresponding to two different buckles. Through the 2-in-1 material distribution mechanism, the required buckles are blown to the buckle screw machine 1106. The vacuum generator generates negative pressure to absorb the blown buckles. After the first three-axis locking frame 1101 runs to the buckle locking position on the drive plate, the first offset cylinder 1103 places the buckle at the target position of the drive plate, and at the same time rotates and presses down the smart electric screwdriver of the buckle screw machine 1106, so as to fix the buckle. The aircraft buckle is locked to the drive plate; then, the parts to be pressed are placed above the aircraft buckle by a six-axis linkage robot with a clamp, and the visual system (i.e., the camera 1110 installed on the third slide) is used to detect whether the position is correct. After confirmation, the parts to be pressed are pressed into the aircraft buckle slot by the aircraft buckle pressing cylinder 1111; when using screw locking, start the screw machine 1108, and the screw feeder 1109 blows the screws with the correct posture to the front end of the screw machine 1108 through vibration sorting, and the vacuum generator generates negative pressure to absorb the blown screws. The six-axis linkage robot places the parts to be assembled at the corresponding positions of the drive plate. The camera 1110 installed on the third slide detects whether the position is correct. After confirming that it is correct, the screw machine 1108 is moved to the screw locking position through the first three-axis locking rack 1101. The second offset cylinder 1104 controls the screw machine 1108 to move down and contact the threaded hole on the drive plate. While the screw machine 1108 is pressed down, the matching intelligent electric screwdriver starts to rotate to lock the drive plate assembly. The camera 1110 installed on the third slide moves the position through the visual lifting cylinder 1105 to ensure that it avoids the interference area when the aircraft is locked, the screw is locked or the robot is grasped. The aircraft screw machine 1106 and the screw machine 1108 are staggered by the offset cylinders at their upper ends to ensure that they do not interfere with each other during work.

[0096] Assembly process of terminal block assembly: use terminal block positioning mechanism 122 to clamp and fix the terminal block, first grab the terminal block through the six-axis linkage robot, assume that the robot gripper is gripping the front and rear sides of the terminal block, extend the gripper of the six-axis linkage robot and the grabbed terminal block into the installation frame 1223, then start the second adjustment motor 1238 to drive the driving wheel 1239 to rotate, the driving wheel 1239 drives the second bidirectional threaded rod 1236 on the rear side to rotate through the third belt and the passive wheel 1237, the second limit block 1234 is threadedly connected to the second bidirectional threaded rod 1236, due to the limiting effect of the second limiting rail 1233, the end clamps 1235 on the left and right sides The left and right sides of the terminal board are relatively close to each other, and the left and right sides of the terminal board are clamped and fixed. After that, the clamping of the front and rear sides of the terminal board by the six-axis linkage robot claws is cancelled, and the six-axis linkage robot is moved outward; then the first adjusting motor 1229 is started, and the first adjusting motor 1229 drives the driving wheel 1230 to rotate, and the driving wheel 1230 drives the transmission wheel 1228 to rotate through the first belt, and the transmission wheel 1228 drives the first bidirectional threaded rod 1227 on the left side to rotate synchronously, and the first bidirectional threaded rod 1227 on the left and right sides are connected by the driven wheel 1232 and the second belt transmission, thereby driving the side clamps 1226 on the front and rear sides to be relatively close to each other, thereby clamping the front and rear sides of the terminal board.

[0097] After the terminal board is clamped, the terminal is placed on the second slide by the six-axis linkage robot, and the terminal is fixed by the positioning cylinder on the second slide. Then, the terminal is moved to the position directly below the hole of the terminal board to be assembled by the terminal plane motion mechanism 121, and then the terminal board lifting cylinder 1222 is lowered and retracted, so that the installation frame 1223 and the fixed terminal board are lowered synchronously until the terminal is assembled to the corresponding hole of the terminal board, and then the camera is used to detect whether the terminal and the hole of the terminal board are aligned. After the terminal and the terminal board are aligned, the fourth slide is moved by the second three-axis locking rack 1201 (which can move in the XYZ three-axis direction), so that the screw machine on the fourth slide is facing the terminal and the terminal board, and the screw machine is started. The screw feeder is responsible for blowing the screw to the front end of the screw machine, and the vacuum generator generates negative pressure to suck the screw. The intelligent electric screwdriver moves down and rotates through the cylinder to complete the screw locking. The misalignment cylinder is used to misalign the relative position of the camera and the screw machine to avoid interference.

[0098] After the terminal block assembly, drive board assembly and main control board assembly assembled by the automated assembly part are assembled, the corresponding positioning mechanism is released to fix them, and then the assembled bottom plate and IGBT, terminal block assembly, drive board assembly and main control board assembly are placed on the carrier by the six-axis linkage robot, and then enter the circular conveyor line 1 along the assembly line 14, and then enter the inverter component cache unit 5, NG cache machine 4 (for NG products produced by automatic assembly), inverter manual assembly unit 7 and power-on debugging system. The manual assembly part, such as the inverter housing and reactor, is moved to the circular conveyor line 1 by the truss manipulator 3 and the hoisting equipment 6 respectively, so that the inverter housing, reactor and the bottom plate and IGBT, terminal block assembly, drive board assembly and main control board assembly assembled by the automated assembly equipment are moved to the inverter manual assembly unit 7 for manual assembly, and the assembled inverter finished product is input to the truss manipulator 3 through the circular conveyor line 1 for finished product unloading or transported to the power-on debugging system for power-on debugging.

[0099] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the purpose and scope of the technical solution, which should be included in the protection scope of the present invention.

Claims

1. A frequency converter assembly line, characterized in that: The invention comprises an annular conveyor line (1), and an automatic assembly device for frequency converter components (2) arranged at the outer edge of the annular conveyor line (1), a truss manipulator (3), an NG buffer machine (4), a frequency converter component buffer unit (5), a power-on debugging system, a hoisting device (6), a frequency converter manual assembly unit (7), and is provided with an in-line and an out-line manual assembly unit pretreatment workbench (8); The inverter component automatic assembly equipment (2) comprises a support frame (9) and an IGBT gluing module (10), a drive board assembly module (11) and a terminal board assembly module (12) arranged on the support frame (9); a plurality of placement grooves are arranged at one end of the upper side of the support frame (9) away from the annular conveyor line (1); a tray is placed in the placement groove, and the tray is used to hold the IGBT, the main control board assembly, the drive board assembly and the terminal board assembly; a robot slide fixedly connected to the support frame (9) is arranged between the IGBT gluing module (10), the drive board assembly module (11) and the terminal board assembly module (12) and the placement groove; a six-axis linkage robot with a gripper is arranged on the robot slide; and the robot slide is equipped with a drive motor for driving the six-axis linkage robot to move horizontally; An assembly line (14) is provided between the frequency converter component automatic assembly equipment (2) and the annular conveyor line (1); A centering assembly module (15) is provided at one end of the assembly line (14) close to the frequency converter component automatic assembly equipment (2), and the centering assembly module (15) is used to center the product on the carrier to assist in assembly; The truss manipulator (3) is used to transport the housing, bottom plate and some parts of the frequency converter to the ring conveyor line (1) for the finished frequency converter to be assembled off the line; The circular conveyor line (1) is provided with a plurality of carriers, which are used to load the base plate, main control board, drive board, terminal board and NG products assembled by the inverter component automatic assembly equipment (2), and are used to load the inverter components and finished products transported to the circular conveyor line (1); The NG buffer machine (4) is arranged at a bend of the circular conveyor line (1), and the NG buffer machine (4) is used to remove NG products assembled by the frequency converter component automatic assembly equipment (2); The frequency converter component cache unit (5) is used to cache the semi-finished components output by the frequency converter component automatic assembly equipment (2); The power-on debugging system is used to perform power-on debugging on the frequency converter; The hoisting equipment (6) includes a double-speed chain streamline, a manual tool rack and a cantilever crane, which are used for the emergency online installation of the reactor and the inverter housing; The frequency converter manual assembly unit (7) is used to assemble the finished frequency converter product; The in-line and out-line manual assembly unit pre-processing workbench (8) comprises a work surface and auxiliary tools for grinding and trimming the inverter components; The inverter assembly line is also equipped with a high-definition vision system, which is used to assist in the loading and unloading and assembly of inverter housings and finished inverter products.

2. The frequency converter assembly line according to claim 1, characterized in that: The IGBT glue coating module (10) comprises a three-axis automatic coating frame (1001) arranged on a support frame (9), a glue erasing mechanism (103) and a plurality of IGBT positioning mechanisms (102); A glue applicator is fixedly connected to the free end of the three-axis automatic coating frame (1001), and the glue applicator comprises a glue cylinder (1002) and a coating scraper (1003) arranged on the three-axis automatic coating frame (1001), and a glue outlet is provided at the bottom of the coating scraper (1003); The IGBT positioning mechanism (102) is used to clamp, flip and rotate the IGBT to be coated with glue; The glue erasing mechanism (103) is used to remove the thermal conductive silicone grease remaining at the glue outlet of the coating scraper (1003).

3. The frequency converter assembly line according to claim 2, characterized in that: The IGBT positioning mechanism (102) comprises a rotating cylinder (1021), the output end on the upper side of the rotating cylinder (1021) is fixedly connected to a bracket (1022) arranged in a U shape, the upper end of the bracket (1022) is rotatably connected to a carrier plate (1023), a flip cylinder (1024) is arranged outside the bracket (1022), the output end of the flip cylinder (1024) is fixedly connected to the carrier plate (1023), a slot matching the IGBT is provided on the carrier plate (1023), both ends of the slot are provided with clamping cylinders (1025) fixedly connected to the carrier plate (1023), the two clamping cylinders (1025) are used to clamp and fix the IGBT placed in the slot, and the IGBT positioning mechanism (102) is also equipped with a material sensor.

4. The frequency converter assembly line according to claim 3, characterized in that: The glue erasing mechanism (103) comprises a glue erasing box (1031), a glue collecting box is arranged in the glue erasing box (1031), two arc grooves (1032) communicating with the glue collecting box are arranged on the upper side of the glue erasing box (1031), a stepping motor is arranged at the lower part of the inner cavity of the glue erasing box (1031), the output end of the stepping motor extends out of the glue erasing box (1031) and is fixedly connected to an active rotating disk (1033), and one side of the active rotating disk (1033) is provided with a contact with the glue erasing box (1031) ) is rotatably connected to the driven rotating disk (1034), and a glue erasing table (1035) and two guide rollers (1036) fixedly connected to the glue erasing box (1031) are provided between the driven rotating disk (1034) and the driving rotating disk (1033). A glue erasing tape (1037) is wound around the driven rotating disk (1034), and the free end of the glue erasing tape (1037) is wound around the driving rotating disk (1033) via the two guide rollers (1036) and the glue erasing table (1035).

5. The frequency converter assembly line according to claim 4, characterized in that: The drive plate assembly module (11) comprises a first three-axis locking frame (1101) and a drive plate positioning mechanism (112) arranged on a support frame (9); a first mounting plate (1102) is fixedly connected to a free end of the first three-axis locking frame (1101); a first offset cylinder (1103) and a first guide rail, a second offset cylinder (1104) and a second guide rail, a visual lifting cylinder (1105) and a third guide rail are arranged on the first mounting plate (1102); a first slide table on which an aircraft screw threading machine (1106) is installed is slidably connected to the first guide rail; the aircraft screw threading machine (1106) is equipped with an aircraft screw threading feeder (1107); the first offset cylinder (1103) and a first guide rail are provided on the first guide rail; ) is fixedly connected to the first slide, a second slide with a screw machine (1108) is slidably connected to the second guide rail, the screw machine (1108) is equipped with a screw feeder (1109), the telescopic end of the second offset cylinder (1104) is fixedly connected to the second slide, a third slide with a camera (1110) is slidably connected to the third guide rail, the telescopic end of the visual lifting cylinder (1105) is fixedly connected to the third slide, and the first mounting plate (1102) is also provided with an aircraft pressing cylinder (1111) matched with the aircraft screw machine (1106) and a vacuum generator matched with the aircraft screw machine (1106) and the screw machine (1108); The drive plate positioning mechanism (112) is used to limit and fix the drive plate so as to facilitate assembly of the drive plate.

6. The frequency converter assembly line according to claim 5, characterized in that: The driving plate positioning mechanism (112) comprises four receiving columns (1121) fixedly connected to the supporting frame (9); a receiving plate (1122) is provided at the upper end of the receiving column (1121); a first vertical plate (1123) and a second vertical plate (1124) perpendicular to each other are provided at the outer edge of the upper side of the receiving plate (1122); a longitudinal through groove and a transverse through groove are provided on the receiving plate (1122); a longitudinal track (1125) and a transverse track (1126) are provided on the lower side of the receiving plate (1122); a longitudinal slider is slidably connected to the longitudinal track (1125); the longitudinal slider is fixedly connected to a longitudinal seat (1127); the upper end of the longitudinal seat (1127) extends out of the longitudinal groove. The through slot is fixedly connected with a limit plate (1128) corresponding to the first vertical plate (1123); a horizontal slider is slidably connected to the horizontal track (1126); a limit block (1129) extending out of the horizontal through slot is provided on one side of the horizontal slider; the limit block (1129) faces the second vertical plate (1124); the longitudinal track (1125) and the transverse track (1126) are both equipped with an external pressure cylinder (1130); the telescopic end of the external pressure cylinder (1130) equipped with the longitudinal track (1125) is fixedly connected with the longitudinal seat (1127); the telescopic end of the external pressure cylinder (1130) equipped with the transverse track (1126) is fixedly connected with the limit block (1129).

7. The frequency converter assembly line according to claim 5, characterized in that: The terminal board assembly module (12) comprises a second three-axis locking frame (1201) fixedly connected to the support frame (9), a terminal board positioning mechanism (122) and a terminal plane motion mechanism (121); the free end of the second three-axis locking frame (1201) is fixedly connected to a second mounting plate (1202); the second mounting plate (1202) is provided with a fourth offset cylinder (1203), a fourth guide rail and a camera bracket; the fourth guide rail is slidably connected to a fourth slide table on which a screw machine (1108) is installed; the screw machine (1108) is equipped with a screw feeder; the second mounting plate (1202) is also provided with a vacuum generator matched with the screw machine (1108); the telescopic end of the fourth offset cylinder (1203) is fixedly connected to the fourth slide table; and the camera bracket is equipped with a camera (1110); The terminal board positioning mechanism (122) is used to clamp and fix terminal boards of different sizes; The terminal plane movement mechanism (121) is used to fix the terminal and move the terminal to the position directly below the hole of the terminal board to be assembled.

8. The frequency converter assembly line according to claim 7, characterized in that: The terminal board positioning mechanism (122) is located on the inner side of the second three-axis locking frame (1201), and the terminal board positioning mechanism (122) includes two vertical baffles (1221) fixedly connected to the support frame (9), and the outer sides of the two vertical baffles (1221) are provided with terminal board lifting cylinders (1222), and the telescopic ends of the two terminal board lifting cylinders (1222) are fixedly connected to the installation frame (1223) that is slidably connected to the vertical baffles (1221), and the left and right inner sides of the installation frame (1223) are provided with first limiting rails (1224), and both ends of the first limiting rails (1224) are slidably connected to first limiting blocks (1225), and the two corresponding left and right sides of the installation frame (1223) are provided with first limiting rails (1224). A side clamping strip (1226) is fixedly connected between the first limit blocks (1225), the two side clamping strips (1226) are parallel to each other, and the side clamping strip (1226) and the vertical baffle (1221) are perpendicular to each other. The left and right inner sides of the installation frame (1223) are rotatably connected with first bidirectional threaded rods (1227), and the two threaded sections of a single first bidirectional threaded rod (1227) are respectively threadedly connected to the two first limit blocks (1225) on the same side of the installation frame (1223), and a transmission wheel (1228) is fixedly connected to the middle part of one of the first bidirectional threaded rods (1227). A first adjusting motor (1229) is provided on the outer side of the installation frame (1223), and the output of the first adjusting motor (1229) is driven by the first adjusting motor (1229). The output end is fixedly connected with a driving wheel (1230), and the driving wheel (1230) is transmission-connected with the transmission wheel (1228) through a first belt; the front side of the installation frame (1223) is provided with a support plate (1231) that abuts against the vertical baffle (1221); the two first bidirectional threaded rods (1227) both penetrate the support plate (1231) and are fixedly connected with a driven wheel (1232); the two driven wheels (1232) are transmission-connected through a second belt; the front and rear inner sides of the installation frame (1223) are both provided with second limiting rails (1233), and both ends of the second limiting rails (1233) are slidably connected with second limiting blocks (1234); the two second limiting blocks (1234) corresponding to the front and rear sides of the installation frame (1223) are provided with a plurality of second limiting blocks (1235). An end clamping strip (1235) is fixedly connected between the two blocks (1234), and the two end clamping strips (1235) are parallel to each other. A second bidirectional threaded rod (1236) is rotatably connected to the inner side of the rear of the installation frame (1223), and the two threaded sections of the second bidirectional threaded rod (1236) are respectively threadedly connected to the two second limit blocks (1234). A passive wheel (1237) is fixedly connected to the middle part of the second bidirectional threaded rod (1236). A second regulating motor (1238) is provided on the outer side of the installation frame (1223), and a driving wheel (1239) is fixedly connected to the output end of the second regulating motor (1238), and the driving wheel (1239) is transmission-connected to the passive wheel (1237) via a third belt.

9. The frequency converter assembly line according to claim 8, characterized in that: The terminal plane motion mechanism (121) is located at the lower inner side of the two vertical baffles (1221), and the terminal plane motion mechanism (121) comprises an X-direction slide rail (1211), a first slide seat is slidably connected to the X-direction slide rail (1211), a first linear motor for driving the first slide seat to move along the X-direction slide rail (1211) is provided on one side of the X-direction slide rail (1211), a Y-direction slide rail (1212) is fixedly connected to the first slide seat, a second slide seat is slidably connected to the Y-direction slide rail (1212), a second linear motor for driving the second slide seat to move along the Y-direction slide rail (1212) is provided on one side of the Y-direction slide rail (1212), two positioning cylinders arranged opposite to each other are installed on the upper side of the second slide seat, the telescopic ends of the two positioning cylinders are fixedly connected to clamping plates, and a material sensor is also provided on one side of the second slide seat.

10. The frequency converter assembly line according to claim 9, characterized in that: The centering assembly module (15) comprises a mounting groove arranged on a support frame (9), a base (151) is arranged in the mounting groove, a three-axis cylinder (152) is arranged in the middle of the base (151), an output end of the three-axis cylinder (152) is fixedly connected to a U-shaped seat (153), an upper end of the U-shaped seat (153) is fixedly connected to a fixing plate (154), front and rear ends of the lower side of the fixing plate (154) are both slidably connected to lower push plates (155), the two lower push plates (155) are driven by a cylinder and a gear rack bidirectional telescopic mechanism so that the two lower push plates (155) are relatively close to or away from each other, three limit rods (156) are fixedly connected to the upper side of each lower push plate (155), and the fixing plate (154) is slidably connected to the lower side of the fixing plate (154). The position of the limit rod (156) of the push-down plate (155) is provided with a sliding groove, and the upper left and right ends of the upper side of the fixed plate (154) are slidably connected with an upper push plate (157), and the two upper push plates (157) are also driven by a cylinder and a gear rack bidirectional telescopic mechanism to make the two upper push plates (157) relatively close to or away from each other. The upper push plate (157) is also fixedly connected with a limit rod (156), and the fixed plate (154) is also provided with evenly distributed columns (158), and the upper ends of the columns (158) are installed with flow eyes, and the left and right ends of the base (151) are installed with vertically arranged pen-shaped cylinders (159), and the output end of the pen-shaped cylinder (159) extends out of the fixed plate (154) and is fixedly connected with a latch; A motor-driven roller group (16) is installed at a position corresponding to the assembly line (14) on the inner side of the installation groove, and the roller group (16) is used to support and transport the carrier. A third three-axis locking frame (13) fixedly connected to the support frame is provided above the roller group (16). A third mounting plate is fixedly connected to the free end of the third three-axis locking frame (13). A fifth offset cylinder and a fifth guide rail, a sixth offset cylinder and a sixth guide rail, a visual lifting cylinder and a seventh guide rail are provided on the third mounting plate. The fifth guide rail The fifth slide table with a screw machine installed is slidably connected on the upper slide table, the telescopic end of the fifth offset cylinder is fixedly connected to the fifth slide table, the sixth slide table with a screw machine installed is slidably connected on the sixth guide rail, the telescopic end of the sixth offset cylinder is fixedly connected to the sixth slide table, the seventh slide table with a camera installed is slidably connected on the seventh guide rail, the telescopic end of the visual lifting cylinder is fixedly connected to the seventh slide table, the screw machines are all equipped with screw feeders, and a vacuum generator matched with the screw machine is also provided on the third mounting plate; The carrier is in the form of a rectangular plate, and is provided with a through slot at a position corresponding to the limit rod (156), a through hole at a position corresponding to the column (158), and a latch lifting hole at a position corresponding to the latch.

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