A frequency converter assembly line

Abstract

The application belongs to the field of frequency converter production and manufacturing, and discloses a frequency converter assembly line, which comprises a ring-shaped conveying line, a frequency converter component automatic assembly device arranged on the outer edge of the ring-shaped conveying line, a truss mechanical hand, 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 a line-in and line-out manual assembly unit pre-processing workbench. The frequency converter assembly line has high assembly efficiency, good stability, and strong applicability, supports the inline production of different types of frequency converters, supports the production mode combining manual assembly and automatic assembly, and simultaneously supports the flow assembly operation and the fixed assembly operation.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of variable frequency converter production and manufacturing, and particularly relates to a variable frequency converter assembly line. BACKGROUND

[0002] A variable frequency converter (VFD) is a power control device that applies variable frequency technology and microelectronic technology to control an AC motor by changing the frequency of the power supply. The variable frequency converter mainly consists of rectification (AC to DC), filtering, inversion (DC to AC), braking unit, driving unit, detection unit, micro-processing unit, etc. The variable frequency converter adjusts the voltage and frequency of the output power supply by opening and closing the internal IGBT, provides the required power supply voltage according to the actual needs of the motor, and thus achieves the purpose of energy saving and speed regulation. In addition, the variable frequency converter has many protection functions, such as overcurrent, overvoltage, and overload protection.

[0003] With the development and expansion of the chemical industry, the demand for electric energy is also increasing, and the corresponding production of supporting variable frequency converters is also increasing. The traditional production method of variable frequency converters is manual assembly, which is low in efficiency, high in labor cost, poor in stability, and prone to produce defective products.

[0004] In order to realize the demand of automatic production as much as possible, our company develops an assembly line for the customers of variable frequency converters to improve the production efficiency and quality of variable frequency converters. SUMMARY

[0005] Therefore, the present application aims to provide a variable frequency converter assembly line. The present application aims to solve the problems of low efficiency, poor stability, and easy production of defective products in traditional manual assembly of variable frequency converters.

[0006] To achieve the above-mentioned purpose, the present application provides a variable frequency converter assembly line, which comprises a ring-shaped conveying line and a variable frequency converter component automatic assembly equipment, a truss mechanical hand, an NG buffer machine, a variable frequency converter component buffer unit, a power-on debugging system, a hoisting equipment, a variable frequency converter manual assembly unit arranged outside the ring-shaped conveying line, and a line-in and line-out manual assembly unit pre-processing workbench.

[0007] The variable frequency converter component automatic assembly equipment comprises a support frame and IGBT gluing modules, drive board assembly modules and terminal plate assembly modules arranged on the support frame, a plurality of placement grooves are arranged on the upper side of the support frame away from one end of the annular conveying line, a tray is placed in each placement groove, the tray is used for containing IGBTs, master control board assemblies, drive board assemblies and terminal plate assemblies, a robot sliding table fixedly connected with the support frame is arranged between the IGBT gluing modules, the drive board assembly modules and the terminal plate assembly modules and the placement grooves, a six-axis linkage robot with a clamping jaw is arranged on the robot sliding table, and the robot sliding table is matched with a driving motor for driving the six-axis linkage robot to move horizontally;

[0008] The truss mechanical arm is used for conveying the shell, the bottom plate and part components of the variable frequency converter to the annular conveying line, and conveying the finished variable frequency converter products offline.

[0009] The variable frequency converter component automatic assembly equipment and the annular conveying line are provided with an assembly line.

[0010] The assembly line is provided with a centering assembly module at one end close to the variable frequency converter component automatic assembly equipment, and the centering assembly module is used for centering the products on the carrier and assisting assembly.

[0011] The annular conveying line is provided with a plurality of carriers, and the carriers are used for loading the bottom plate, the master control board, the drive board, the terminal plate and the NG product assembled by the variable frequency converter component automatic assembly equipment, and loading the variable frequency converter components and finished products conveyed to the annular conveying line.

[0012] The NG buffer machine is arranged at the bending position of the annular conveying line, and the NG buffer machine is used for conveying the NG product assembled by the variable frequency converter component automatic assembly equipment offline.

[0013] The variable frequency converter component buffer unit is used for buffering the semi-finished product assemblies output by the variable frequency converter component automatic assembly equipment.

[0014] The power-on debugging system is used for power-on debugging of the variable frequency converter.

[0015] The hoisting equipment comprises a speed chain streamline, an artificial tool rack and a cantilever crane, and is used for on-line of the reactor and emergency on-line of the variable frequency converter shell.

[0016] The variable frequency converter artificial assembly unit is used for assembling the variable frequency converter product.

[0017] The in-line and out-line artificial assembly unit pre-processing workbench comprises a workbench surface and auxiliary tools, and is used for polishing and trimming the variable frequency converter components.

[0018] The variable frequency converter assembly line is further provided with a high-definition vision system, and the high-definition vision system is used for assisting on-line and off-line of the variable frequency converter shell and the variable frequency converter product and assembly.

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

[0020] The free end of the three-axis automatic coating rack is fixedly connected with a glue applicator, the glue applicator comprises a glue barrel and a coating scraper arranged on the three-axis automatic coating rack, and a glue outlet is formed in the bottom of the coating scraper.

[0021] The IGBT positioning mechanism is used for clamping, turning over and rotating the IGBT to be glued.

[0022] The glue wiping mechanism is used for removing the heat-conducting silicone grease remaining in the glue outlet of the coating scraper (1003).

[0023] Further, the IGBT positioning mechanism comprises a rotating air cylinder, the output end of the upper side of the rotating air cylinder is fixedly connected with a U-shaped support, the upper end of the support is rotatably connected with a carrier plate, a turning air cylinder is arranged outside the support, the output end of the turning air cylinder is fixedly connected with the carrier plate, a clamping groove matched with the IGBT is formed in the carrier plate, clamping air cylinders fixedly connected with the carrier plate are arranged at both ends of the clamping groove, the two clamping air cylinders are used for clamping and fixing the IGBT placed in the clamping groove, and the IGBT positioning mechanism is also provided with a material sensor, which can realize automatic alarm and material presence / absence detection.

[0024] Further, the glue wiping mechanism comprises a glue wiping box, a glue collecting box is arranged in the glue wiping box, two arc grooves communicating with the glue collecting box are arranged on the upper side of the glue wiping box, a stepping motor is arranged at the lower part of the inner cavity of the glue wiping box, the output end of the stepping motor is fixedly connected with a driving turntable which protrudes out of the glue wiping box, a driven turntable rotatably connected with the glue wiping box is arranged on one side of the driving turntable, a glue wiping table and two guide rollers fixedly connected with the glue wiping box are further arranged between the driving turntable and the driven turntable, a glue wiping belt is wound on the driven turntable, and the free end of the glue wiping belt is wound on the driving turntable through the two guide rollers and the glue wiping table.

[0025] Further, the driving plate assembly module comprises a first three-axis locking rack and a driving plate positioning mechanism arranged on the support frame, the free end of the first three-axis locking rack is fixedly connected with a first mounting plate, the first mounting plate is provided with a first staggered air cylinder and a first guide rail, a second staggered air cylinder and a second guide rail, a visual lifting air cylinder and a third guide rail, the first guide rail is slidably connected with a first sliding table on which an aircraft buckle screw machine is arranged, the aircraft buckle screw machine is matched with an aircraft buckle feeder, the telescopic end of the first staggered air cylinder is fixedly connected with the first sliding table, the second guide rail is slidably connected with a second sliding table on which a screw machine is arranged, the screw machine is matched with a screw feeder, the telescopic end of the second staggered air cylinder is fixedly connected with the second sliding table, the third guide rail is slidably connected with a third sliding table on which a camera is arranged, the telescopic end of the visual lifting air cylinder is fixedly connected with the third sliding table, the first mounting plate is further provided with an aircraft buckle pressing air cylinder matched with the aircraft buckle screw machine and a vacuum generator matched with the aircraft buckle screw machine and the screw machine;

[0026] The driving plate positioning mechanism is used for limiting and fixing the driving plate, so as to assemble the driving plate.

[0027] Further, the driving plate positioning mechanism comprises four supporting columns fixedly connected with the support frame, the upper end of the supporting column is provided with a supporting plate, the upper side of the supporting plate is provided with a first vertical plate and a second vertical plate which are perpendicular to each other, the supporting plate is provided with a longitudinal through slot and a transverse through slot, the lower side of the supporting plate is provided with a longitudinal rail and a transverse rail, the longitudinal rail is slidably connected with a longitudinal sliding block, the longitudinal sliding block is fixedly connected with a longitudinal seat, the upper end of the longitudinal seat protruding out of the longitudinal through slot is fixedly connected with a limiting plate corresponding to the first vertical plate, the transverse rail is slidably connected with a transverse sliding block, one side of the transverse sliding block is provided with a limiting clamping block protruding out of the transverse through slot, the limiting clamping block is opposite to the second vertical plate, the longitudinal rail and the transverse rail are both matched with an external pressure cylinder, the telescopic end of the external pressure cylinder matched with the longitudinal rail is fixedly connected with the longitudinal seat, and the telescopic end of the external pressure cylinder matched with the transverse rail is fixedly connected with the limiting clamping block.

[0028] Further, the terminal plate assembly module comprises a second three-axis locking rack, a terminal plate positioning mechanism and a terminal plane motion mechanism fixedly connected with the support frame, the free end of the second three-axis locking rack is fixedly connected with a second mounting plate, the second mounting plate is provided with a fourth staggered air cylinder, a fourth guide rail and a camera support, the fourth guide rail is slidably connected with a fourth sliding table on which a screw machine is arranged, the screw machine is matched 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 staggered air cylinder is fixedly connected with the fourth sliding table, and the camera support is provided with a camera;

[0029] The terminal plate positioning mechanism is used for clamping and fixing terminal plates of different sizes.

[0030] The terminal plane movement mechanism is used for fixing the terminal and moving the terminal to be directly below the terminal plate hole position to be assembled.

[0031] Further, the terminal plate positioning mechanism is located inside the second three-axis locking rack, the terminal plate positioning mechanism comprises two vertical baffle plates fixedly connected with the support frame, the outer sides of the two vertical baffle plates are respectively provided with terminal plate lifting cylinders, the telescopic ends of the two terminal plate lifting cylinders are fixedly connected with mounting frames which are slidingly connected with the vertical baffle plates, the left and right inner sides of the mounting frames are respectively provided with first limiting rails, the two ends of the first limiting rails are respectively slidingly connected with first limiting blocks, the corresponding two first limiting blocks on the left and right sides of the mounting frame are fixedly connected with side clamping strips, the two side clamping strips are parallel to each other, the side clamping strips are perpendicular to the vertical baffle plates, the left and right inner sides of the mounting frame are respectively rotatably connected with first bidirectional threaded rods, the two threaded segments of a single first bidirectional threaded rod are respectively threadedly connected with the two first limiting blocks on the same side of the mounting frame, the middle part of one of the first bidirectional threaded rods is fixedly connected with a transmission wheel, the outer side of the mounting frame is provided with a first adjusting motor, the output end of the first adjusting motor is fixedly connected with a driving wheel, the driving wheel is drivingly connected with the transmission wheel through a first belt, the front side of the mounting frame is provided with an abutting plate which abuts against the vertical baffle plate, the two first bidirectional threaded rods are respectively penetratingly connected with driven wheels through the abutting plate, and the two driven wheels are drivingly connected through a second belt; the front and rear inner sides of the mounting frame are respectively provided with second limiting rails, the two ends of the second limiting rails are respectively slidingly connected with second limiting blocks, the corresponding two second limiting blocks on the front and rear sides of the mounting frame are fixedly connected with end clamping strips, the two end clamping strips are parallel to each other, the rear inner side of the mounting frame is rotatably connected with a second bidirectional threaded rod, the two threaded segments of the second bidirectional threaded rod are respectively threadedly connected with the two second limiting blocks, the middle part of the second bidirectional threaded rod is fixedly connected with a passive wheel, the outer side of the mounting frame is provided with a second adjusting motor, the output end of the second adjusting motor is fixedly connected with a driving wheel, and the driving wheel is drivingly connected with the passive wheel through a third belt.

[0032] Further, the terminal plane movement mechanism is located inside the second three-axis locking rack, the terminal plate positioning mechanism comprises two vertical baffle plates fixedly connected with the support frame, the outer sides of the two vertical baffle plates are respectively provided with terminal plate lifting cylinders, the telescopic ends of the two terminal plate lifting cylinders are fixedly connected with mounting frames which are slidingly connected with the vertical baffle plates, the left and right inner sides of the mounting frames are respectively provided with first limiting rails, the two ends of the first limiting rails are respectively slidingly connected with first limiting blocks, the corresponding two first limiting blocks on the left and right sides of the mounting frame are fixedly connected with side clamping strips, the two side clamping strips are parallel to each other, the side clamping strips are perpendicular to the vertical baffle plates, the left and right inner sides of the mounting frame are respectively rotatably connected with first bidirectional threaded rods, the two threaded segments of a single first bidirectional threaded rod are respectively threadedly connected with the two first limiting blocks on the same side of the mounting frame, the middle part of one of the first bidirectional threaded rods is fixedly connected with a transmission wheel, the outer side of the mounting frame is provided with a first adjusting motor, the output end of the first adjusting motor is fixedly connected with a driving wheel, the driving wheel is drivingly connected with the transmission wheel through a first belt, the front side of the mounting frame is provided with an abutting plate which abuts against the vertical baffle plate, the two first bidirectional threaded rods are respectively penetratingly connected with driven wheels through the abutting plate, and the two driven wheels are drivingly connected through a second belt; the front and rear inner sides of the mounting frame are respectively provided with second limiting rails, the two ends of the second limiting rails are respectively slidingly connected with second limiting blocks, the corresponding two second limiting blocks on the front and rear sides of the mounting frame are fixedly connected with end clamping strips, the two end clamping strips are parallel to each other, the rear inner side of the mounting frame is rotatably connected with a second bidirectional threaded rod, the two threaded segments of the second bidirectional threaded rod are respectively threadedly connected with the two second limiting blocks, the middle part of the second bidirectional threaded rod is fixedly connected with a passive wheel, the outer side of the mounting frame is provided with a second adjusting motor, the output end of the second adjusting motor is fixedly connected with a driving wheel, and the driving wheel is drivingly connected with the passive wheel through a third belt.

[0033] Further, the centering assembly module comprises a mounting groove arranged on the support frame, a base is arranged in the mounting groove, a three-axis air cylinder is arranged in the middle of the base, a U-shaped seat is fixedly connected to the output end of the three-axis air cylinder, a fixed plate is fixedly connected to the upper end of the U-shaped seat, lower push plates are slidably connected to the front and rear ends of the lower side of the fixed plate, the two lower push plates are driven by a gear and rack bidirectional extension mechanism to make the two lower push plates relatively close or away from each other, three limiting rods are fixedly connected to the upper side of each lower push plate, sliding grooves are arranged on the fixed plate corresponding to the positions of the limiting rods of the lower push plates, upper push plates are slidably connected to the left and right ends of the upper side of the fixed plate, the two upper push plates are also driven by a gear and rack bidirectional extension mechanism to make the two upper push plates relatively close or away from each other, limiting rods are also fixedly connected to the upper push plates, vertical columns are also arranged on the fixed plate, flow eyes are arranged on the upper ends of the vertical columns, pen-shaped air cylinders are arranged on the left and right ends of the base, and latches are fixedly connected to the output ends of the pen-shaped air cylinders and extend out of the fixed plate.

[0034] A motor-driven roller set is arranged on the inner side of the mounting groove corresponding to the position of the assembly line, the roller set is used to support and convey the carrier, a third three-axis mounting rack fixedly connected with the support frame is arranged above the roller set, a third mounting plate is fixedly connected to the free end of the third three-axis mounting rack, a fifth misaligned air cylinder and a fifth guide rail, a sixth misaligned air cylinder and a sixth guide rail, a visual lifting air cylinder and a seventh guide rail are arranged on the third mounting plate, a fifth sliding table on which a screw machine is arranged is slidably connected to the fifth guide rail, the fifth misaligned air cylinder is fixedly connected to the fifth sliding table, a sixth sliding table on which a screw machine is arranged is slidably connected to the sixth guide rail, the sixth misaligned air cylinder is fixedly connected to the sixth sliding table, a seventh sliding table on which a camera is arranged is slidably connected to the seventh guide rail, the visual lifting air cylinder is fixedly connected to the seventh sliding table, the screw machines are matched with screw feeders, and a vacuum generator matched with the screw machines is also arranged on the third mounting plate.

[0035] The carrier is arranged in the form of a rectangular plate, through grooves are arranged on the carrier corresponding to the positions of the limiting rods, through holes are arranged on the carrier corresponding to the positions of the vertical columns, and latch lifting holes are arranged on the carrier corresponding to the positions of the latches.

[0036] Beneficial effects:

[0037] 1. Support the production mode of combining manual assembly and automatic assembly, and support the assembly operation of flow type and fixed type. In the frequency converter assembly line of the present application, the frequency converter manual assembly unit and each automatic module are provided with a conveying line and an intermediate annular conveying line for docking, so that the frequency converter to be assembled can be reasonably circulated between the manual assembly workstations and the automatic modules through the annular conveying line, and the manual assembly and the automatic assembly are well combined. In addition, the annular conveying line only plays a role in line logistics circulation. For the manual assembly workstations, both flow type assembly operation and fixed type assembly operation can be supported.

[0038] 2. Support the inline production of different types of frequency converters. The frequency converters to be assembled in the present application all use the same tool tray for line circulation, and the tool tray can meet the circulation needs of different types of frequency converters. The power-on debugging system is provided, which can realize the power-on debugging needs of different types of frequency converters and support the quick connection and conduction of the frequency converter power-on debugging system. The robot sliding table and the six-axis linkage robot are provided, and multiple different assembly platforms are configured, which can well meet the flexible assembly of different components of different types of frequency converters.

[0039] 3. Support the automatic feeding and discharging of frequency converter shells and finished products. The truss manipulator is used to carry the frequency converter shells distributed by the AGV to the annular conveying line for circulation, and the finished products after assembly are supported to be discharged from the annular conveying line to the AGV shelf, and the whole feeding and discharging process does not need the participation of the travelling crane.

[0040] 4. Support the automatic assembly component caching and NG product caching. The present application is configured with a frequency converter component caching unit and an NG caching machine which are connected with the intermediate annular conveying line, and supports collaborative operation control with other process modules, supports the automatic assembly component caching and NG product caching of the frequency converter.

[0041] 5. The frequency converter adopts an annular line to circulate between different units, which greatly simplifies the line logistics operation. The present application uses an annular conveying line to connect the frequency converter manual assembly unit and each automatic module, and the assembly components and the frequency converter assembly semi-finished products are assembled by the tool tray and circulated between different units through the annular conveying line, complete all assembly and debugging links, and finally assembled into finished products. The whole line logistics operation is simple and clear.

[0042] Other advantages, objects, and features of the present application will be in part apparent and in part pointed out hereinafter in the specification, and in part will be learned from the practice of the application. The objects and other advantages of the present application can be realized and attained by the following description. BRIEF DESCRIPTION OF DRAWINGS

[0043] Figure 1 Structure diagram of a frequency converter assembly line of the present application;

[0044] Figure 2 Structure diagram of a frequency converter component automatic assembly equipment;

[0045] Figure 3 Structure diagram of an IGBT gluing module;

[0046] Figure 4 Structure diagram of an IGBT positioning mechanism;

[0047] Figure 5 Structure diagram of a wiping mechanism;

[0048] Figure 6 Structure diagram of a drive plate assembly module;

[0049] Figure 7 Structure diagram of a drive plate positioning mechanism from a first perspective;

[0050] Figure 8 Structure diagram of a drive plate positioning mechanism from a second perspective;

[0051] Figure 9 Structure diagram of a terminal plate assembly module;

[0052] Figure 10 Structure diagram of a terminal plate positioning mechanism and terminal plane movement mechanism from a first perspective;

[0053] Figure 11 Structure diagram of a terminal plate positioning mechanism and terminal plane movement mechanism from a second perspective;

[0054] Figure 12 Structure diagram of a carrier;

[0055] Figure 13 Structure diagram of a centering assembly module;

[0056] Figure 14 Structure diagram of a centering assembly module centering assembly from a first perspective;

[0057] Figure 15 Structure diagram of a centering assembly module centering assembly from a second perspective;

[0058] The reference signs in the figure are as follows: annular conveying line 1, frequency converter component automatic assembly equipment 2, truss mechanical arm 3, NG buffer machine 4, frequency converter component buffer unit 5, hoisting equipment 6, frequency converter manual assembly unit 7, manual assembly unit pretreatment workbench 8, support frame 9, IGBT gluing module 10, three-axis automatic coating machine frame 1001, screw pump type glue applicator 1002, coating scraper 1003, IGBT positioning mechanism 102, rotary cylinder 1021, support 1022, carrier plate 1023, overturning cylinder 1024, clamping cylinder 1025, glue wiping mechanism 103, glue wiping box 1031, arc groove 1032, driven turntable 1033, driven turntable 1034, glue wiping table 1035, guide roller 1036, glue wiping belt 1037, drive plate assembly module 11, first three-axis locking machine frame 1101, first mounting plate 1102, first misalignment cylinder 1103, second misalignment cylinder 1104, visual lifting cylinder 1105, aircraft buckle screwing machine 1106, aircraft buckle feeder 1107, screwing machine 1108, screw feeder 1109, camera 1110, aircraft buckle pressing cylinder 1111, drive plate positioning mechanism 112, bearing column 1121, bearing plate 1122, first vertical plate 1123, second vertical plate 1124, longitudinal rail 1125, transverse rail 1126, longitudinal seat 1127, limiting plate 1128, limiting block 1129, outer pressing cylinder 1130, terminal plate assembly module 12, second three-axis locking machine frame 1201, second mounting plate 1202, fourth misalignment cylinder 1203, terminal plane motion mechanism 121, X-direction slide rail 1211, Y-direction slide rail 1212, terminal plate positioning mechanism 122, vertical baffle plate 1221, terminal plate lifting cylinder 1222, mounting frame 1223, first limiting rail 1224, first limiting block 1225, side edge clamping strip 1226, first bidirectional threaded rod 1227, transmission wheel 1228, first adjusting motor 1229, drive wheel 1230, abutment plate 1231, driven wheel 1232, second limiting rail 1233, second limiting block 1234, end clamping strip 1235, second bidirectional threaded rod 1236, passive wheel 1237, second adjusting motor 1238, driving wheel 1239, assembly line 14, centering assembly module 15, base 151, three-axis cylinder 152, U-shaped seat 153, fixed plate 154, lower pushing plate 155, limiting rod 156, upper pushing plate 157, stand 158, pen-shaped cylinder 159, roller set 16. DETAILED DESCRIPTION

[0059] In order to make the technical solutions, advantages and purposes of the present application clearer, the technical solutions of the embodiments of the present application will be described clearly and completely below in conjunction with the drawings of the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the described embodiments of the present application, all other embodiments obtained by those of ordinary skill in the art without any creative effort fall within the protection scope of the present application.

[0060] As shown in Figures 1-15 The present application provides a frequency converter assembly line, which comprises a ring-shaped conveying line 1 and a frequency converter component automatic assembly device 2, a truss mechanical hand 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 arranged on the outer edge of the ring-shaped conveying line 1, and is configured with an in-line and out-of-line manual assembly unit pretreatment workbench 8.

[0061] The frequency converter component automatic assembly device 2 comprises a support frame 9 and an IGBT gluing module 10, a driving plate assembly module 11 and a terminal plate assembly module 12 arranged on the support frame 9. The upper side of the support frame 9 away from one end of the ring-shaped conveying line 1 is provided with a plurality of placing grooves, and a tray is placed in each placing groove. The tray is used for containing IGBT, main control board assembly, driving plate assembly and terminal plate assembly. A robot sliding table fixedly connected with the support frame 9 is arranged between the IGBT gluing module 10, the driving plate assembly module 11 and the terminal plate assembly module 12 and the placing grooves. A six-axis linkage robot with a clamping jaw is installed on the robot sliding table. The robot sliding table is matched with a driving motor for driving the six-axis linkage robot to move horizontally.

[0062] The truss mechanical hand 3 is used for conveying the shell, bottom plate and part of the components of the frequency converter to the ring-shaped conveying line 1, and is used for the offline of the finished frequency converter.

[0063] The flow line 14 is arranged between the frequency converter component automatic assembly device 2 and the ring-shaped conveying line 1.

[0064] The flow line 14 is arranged between the frequency converter component automatic assembly device 2 and the ring-shaped conveying line 1.

[0065] A plurality of carriers (i.e. tooling trays) are placed on the ring-shaped conveying line 1. The carriers are used for loading the bottom plate, main control board, driving plate, terminal plate and NG product assembled by the frequency converter component automatic assembly device 2, and are used for loading the frequency converter parts and finished products conveyed to the ring-shaped conveying line 1.

[0066] The NG buffer machine 4 is arranged at the bending part of the ring-shaped conveying line 1. The NG buffer machine 4 is used for offline of the NG product assembled by the frequency converter component automatic assembly device 2.

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

[0068] The power-on debugging system is used for power-on debugging of the frequency converter;

[0069] The hoisting equipment 6 includes a speed chain streamline, a manual tool rack and a cantilever crane, and is used for on-line of the reactor and emergency on-line of the frequency converter shell;

[0070] The frequency converter manual assembly unit 7 is used for assembling the finished product of the frequency converter;

[0071] The NG buffer machine 4, the frequency converter component buffer unit 5, the power-on debugging system and the frequency converter manual assembly unit 7 are all provided with a conveying line which is connected with the intermediate annular conveying line 1;

[0072] The in-line and out-line manual assembly unit pretreatment workbench 8 includes a workbench and auxiliary tools, and is used for polishing and trimming the frequency converter components;

[0073] The frequency converter assembly line is also provided with a high-definition vision system, which is used for assisting on-line and off-line of the frequency converter shell and the finished product of the frequency converter and assembling.

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

[0075] A glue applicator is fixedly connected to the free end of the three-axis automatic coating rack 1001, and the glue applicator includes a glue cylinder 1002 and a coating scraper 1003 which are arranged on the three-axis automatic coating rack 1001, and a glue outlet is formed in the bottom of the coating scraper 1003;

[0076] The IGBT positioning mechanism 102 is used for clamping, overturning and rotating the IGBT to be glued, and the IGBT positioning mechanism 102 includes a rotating air cylinder 1021, a support 1022 which is arranged in a U shape and is fixedly connected to the output end of the rotating air cylinder 1021, a load plate 1023 which is rotatably connected to the upper end of the support 1022, a overturning air cylinder 1024 which is installed on the outer side of the support 1022 and is fixedly connected to the output end of the overturning air cylinder 1024, a clamping air cylinder 1025 which is fixedly connected to the load plate 1023 and is installed at both ends of a clamping groove matched with the IGBT, and the two clamping air cylinders 1025 are used for clamping and fixing the IGBT placed in the clamping groove, and the IGBT positioning mechanism 102 is also provided with a material sensor which can realize automatic alarm and material detection;

[0077] The glue wiping mechanism 103 is used for removing the thermal conductive silicone grease remaining on the glue outlet of the coating doctor blade 1003. The glue wiping mechanism 103 comprises a glue wiping box 1031, a glue collecting box is arranged in the glue wiping box 1031, two arc grooves 1032 communicating with the glue collecting box are arranged on the upper side of the glue wiping box 1031, a stepping motor is mounted at the lower part of the inner cavity of the glue wiping box 1031, the output end of the stepping motor extends out of the glue wiping box 1031 and is fixedly connected with a driving disc 1033, a driven disc 1034 is arranged on the left side of the driving disc 1033 in a rotatable manner, the driven disc 1034 and the driving disc 1033 are further provided with a glue wiping table 1035 and two guide rollers 1036 which are fixedly connected with the glue wiping box 1031, and a glue wiping belt 1037 is wound on the driving disc 1033 through the two guide rollers 1036 and the glue wiping table 1035.

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

[0079] The driving plate positioning mechanism 112 is used for limiting and fixing the driving plate, so as to assemble the driving plate. The driving plate positioning mechanism 112 comprises four supporting columns 1121 fixedly connected with the supporting frame 9. The upper end of the supporting column 1121 is fixedly connected with a supporting plate 1122. The upper side of the supporting plate 1122 is provided with a first vertical plate 1123 and a second vertical plate 1124 which are perpendicular to each other. The supporting plate 1122 is provided with a longitudinal through groove and a transverse through groove. The lower side of the supporting plate 1122 is fixedly connected with a longitudinal rail 1125 and a transverse rail 1126. A longitudinal sliding block is slidingly connected to the longitudinal rail 1125. The outer side of the longitudinal sliding block is fixedly connected with a longitudinal seat 1127. The upper end of the longitudinal seat 1127 extends out of the longitudinal through groove and is fixedly connected with a limiting plate 1128 corresponding to the first vertical plate 1123. A transverse sliding block is slidingly connected to the transverse rail 1126. The side of the transverse sliding block is fixedly connected with a limiting clamping block 1129 extending out of the transverse through groove. The limiting clamping block 1129 is opposite to the second vertical plate 1124. The longitudinal rail 1125 and the transverse rail 1126 are both matched with an external pressure cylinder 1130. The telescopic end of the external pressure cylinder 1130 matched with the longitudinal rail 1125 is fixedly connected with the longitudinal seat 1127. The telescopic end of the external pressure cylinder 1130 matched with the transverse rail 1126 is fixedly connected with the limiting clamping block 1129.

[0080] As a preferred embodiment, the terminal plate assembly module 12 comprises a second three-axis locking machine frame 1201 fixedly connected with the supporting frame 9, a terminal plate positioning mechanism 122 and a terminal plane motion mechanism 121. The free end of the second three-axis locking machine frame 1201 is fixedly connected with a second mounting plate 1202. The second mounting plate 1202 is installed with a fourth staggered cylinder 1203, a fourth guide rail and a camera support. The fourth guide rail is slidingly connected with a fourth sliding table installed with a screw machine 1108. The screw machine 1108 is matched with a screw feeder 1109. The second mounting plate 1202 is also installed with a vacuum generator matched with the screw machine 1108. The telescopic end of the fourth staggered cylinder 1203 is fixedly connected with the fourth sliding table. The camera support is installed with a camera 1110.

[0081] The terminal plate positioning mechanism 122 is used for clamping and fixing terminal plates of different sizes. The terminal plate positioning mechanism 122 is located inside the second three-axis locking machine frame 1201. The terminal plate positioning mechanism 122 comprises two vertical baffle plates 1221 fixedly connected with the support frame 9. The outer sides of the two vertical baffle plates 1221 are each provided with a terminal plate lifting cylinder 1222. The extension ends of the two terminal plate lifting cylinders 1222 are each fixedly connected with a mounting frame 1223 in sliding connection with the vertical baffle plate 1221. The mounting frame 1223 is provided with first limiting rails 1224 on the left and right inner sides. The first limiting rails 1224 are each provided with a first limiting block 1225 in sliding connection. The mounting frame 1223 is provided with side clamping strips 1226 fixedly connected between the corresponding two first limiting blocks 1225 on the left and right sides. The two side clamping strips 1226 are parallel to each other and perpendicular to the vertical baffle plate 1221. The mounting frame 1223 is rotatably connected with first bidirectional threaded rods 1227 on the left and right inner sides. The two threaded sections of a single first bidirectional threaded rod 1227 are respectively in threaded connection with the two first limiting blocks 1225 on the same side of the mounting frame 1223. One of the first bidirectional threaded rods 1227 is fixedly connected with a transmission wheel 1228 at the middle portion. The mounting frame 1223 is provided on the left side with a first adjusting motor 1229. The output end of the first adjusting motor 1229 is fixedly connected with a driving wheel 1230. The driving wheel 1230 is in transmission connection with the transmission wheel 1228 through a first belt. The mounting frame 1223 is provided on the front side with an abutting plate 1231 abutting against the vertical baffle plate 1221. The two first bidirectional threaded rods 1227 are each fixedly connected with a driven wheel 1232 penetrating through the abutting plate 1231. The two driven wheels 1232 are in transmission connection through a second belt.

[0082] The terminal plane movement mechanism 121 is used for fixing the terminal and moving the terminal to be directly below the terminal plate hole position to be assembled, and is located in the lower side of the two vertical baffle plates 1221. The terminal plane movement mechanism 121 comprises an X-direction sliding rail 1211, a first sliding seat is slidably connected to the X-direction sliding rail 1211, a first linear motor is arranged on one side of the X-direction sliding rail 1211 and used for driving the first sliding seat to move along the X-direction sliding rail 1211, a Y-direction sliding rail 1212 is fixedly connected to the first sliding seat, a second sliding seat is slidably connected to the Y-direction sliding rail 1212, a second linear motor is arranged on one side of the Y-direction sliding rail 1212 and used for driving the second sliding seat to move along the Y-direction sliding rail 1212, two oppositely arranged positioning air cylinders are installed on the upper side of the second sliding seat, clamping plates are fixedly connected to the extension ends of the two positioning air cylinders, and a material sensor is arranged on one side of the second sliding seat.

[0083] As a kind of preferred of the embodiment, the center assembly module 15 includes installation slot arranged on support frame 9, base 151 is installed in installation slot, three-axis cylinder 152 is installed in the middle of the upper side of base 151, U-shaped seat 153 is fixedly connected to the output end of three-axis cylinder 152, fixed plate 154 is fixedly connected to the upper end of U-shaped seat 153, lower push plate 155 is slidably connected to the lower side of front and rear ends of fixed plate 154, two lower push plates 155 are driven by air cylinder and gear rack double extension mechanism to make two lower push plates 155 relatively close or far away, three limit rods 156 are fixedly connected to the upper side of each lower push plate 155, and sliding groove is formed in the position corresponding to limit rod 156 of lower push plate 155 of fixed plate 154. Upper push plate 157 is slidably connected to the left and right ends of the upper side of fixed plate 154, two upper push plates 157 are also driven by air cylinder and gear rack double extension mechanism to make two upper push plates 157 relatively close or far away, and limit rod 156 is also fixedly connected to upper push plate 157. Fixed plate 154 is also provided with uniformly distributed stand column 158, flow eye is installed on the upper end of stand column 158, pen-shaped cylinder 159 is installed on the left and right ends of base 151 and arranged vertically, and bolt is fixedly connected to the output end of pen-shaped cylinder 159 and extended from fixed plate 154.

[0084] The motor-driven roller set 16 is installed in the position corresponding to the pipeline 14 on the inner side of the installation groove, and is used to support and convey the carrier. The third three-axis locking rack 13 is fixedly connected with the supporting frame 9 above the roller set 16. The free end of the third three-axis locking rack 13 is fixedly connected with a third mounting plate. The third mounting plate is provided with a fifth staggered air cylinder and a fifth guide rail, a sixth staggered air cylinder and a sixth guide rail, a visual lifting air cylinder and a seventh guide rail. The fifth guide rail is slidably connected with a fifth sliding table on which a screw machine is installed. The fifth staggered air cylinder is fixedly connected with the fifth sliding table. The sixth guide rail is slidably connected with a sixth sliding table on which a screw machine is installed. The sixth staggered air cylinder is fixedly connected with the sixth sliding table. The seventh guide rail is slidably connected with a seventh sliding table on which a camera is installed. The visual lifting air cylinder is fixedly connected with the seventh sliding table. The screw machine is matched with a screw feeder. The third mounting plate is also provided with a vacuum generator matched with the screw machine.

[0085] As a preferred embodiment of the present application, the carrier is provided in the form of a rectangular plate. The carrier is provided with a through groove corresponding to the position of the limiting rod 156, a through hole corresponding to the position of the column 158, and a bolt lifting hole corresponding to the position of the bolt.

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

[0087] The automatic assembly part first places the tray containing the IGBT, the main control board assembly, the drive board assembly and the terminal plate assembly in the placement groove at the front end of the supporting frame 9 through the AGV. One tray usually contains one kind of assembly parts or parts of a single assembly. Then the six-axis linkage robot is driven to move along the robot sliding table, so that the six-axis linkage robot can freely move in the space above the supporting frame 9, thereby moving the required parts to the IGBT glue coating module 10, the drive plate assembly module 11, the terminal plate assembly module 12 or the centering assembly module 15, thereby completing the assembly of the bottom plate and the IGBT, the assembly of the terminal row assembly, the assembly of the drive plate assembly and the assembly of the main control board assembly. The assembly methods of the drive plate assembly and the main control board assembly are the same, and both use the drive plate assembly module 11 for assembly.

[0088] The assembly process of the bottom plate and the IGBT is as follows:

[0089] Gluing of IGBT: first, adjust the position of the support 1022 through the rotary cylinder 1021 to adjust the standby posture and the handover posture of the IGBT positioning mechanism 102, rotate to the handover posture, then place the IGBT on the carrier plate 1023 of the IGBT positioning mechanism 102 through the six-axis linkage robot, then clamp and fix the IGBT through the clamping cylinder 1025, then turn over the carrier plate 1023 through the turnover cylinder 1024 to make the lower side of the IGBT upward, then move the coating scraper 1003 to the upper side of the IGBT through the three-axis automatic coating rack 1001, and the coating scraper 1003 scrapes the IGBT to make the heat-conducting silicone evenly coated on the bottom plate, then retract the clamping cylinder 1025 to release the fixation of the IGBT positioning mechanism 102, so that the IGBT after gluing is grabbed by the six-axis linkage robot.

[0090] The coating scraper 1003 needs to be cleaned after gluing, otherwise it will solidify and block, affecting subsequent gluing. Cleaning process: extend the coating scraper 1003 to the arc groove 1032 through the three-axis automatic coating rack 1001 and draw it to make the heat-conducting silicone attached to the coating scraper 1003 fall into the glue collection box, then move the coating scraper 1003 through the three-axis automatic coating rack 1001 to make the glue outlet at the lower end of the coating scraper 1003 tightly contact with the rubber belt 1037 on the rubber belt table 1035, then start the stepping motor, the stepping motor drives the rubber belt 1037 to move and wind around the driving disc 1033, and the rubber belt 1037 moves to further clean the glue outlet at the lower end of the coating scraper 1003.

[0091] Centering of the bottom plate: first, place the bottom plate on the carrier, move the carrier with the bottom plate to the roller set 16 along with the annular conveying line 1 and the assembly line 14, then start the pen-shaped cylinder 159 to make the bolt rise and lift the carrier with the bottom plate to separate from the roller set 16, 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, thereby making the column 158 rise, the column 158 passes through the through hole to lift the bottom plate through the carrier, and the limiting rod 156 passes through the through slot to the outside of the bottom plate through the carrier, then start the cylinders matched with the lower push plate 155 and the upper push plate 157, the cylinders drive the two corresponding push plates to relatively close through the gear and rack bidirectional extension mechanism, the limiting rod 156 moves with the push plate, thereby driving the bottom plate to move to the center under the support of the multiple column 158 eyes.

[0092] The bottom plate and the IGBT are assembled: after the bottom plate moves to the middle of the carrier, the IGBT after being glued is grabbed by the six-axis linkage robot, and the glued IGBT is placed in the mounting position of the bottom plate, then the position of the two screw machines intelligent electric screwdrivers is adjusted through the third three-axis locking rack 13, the two screw machines are used to provide two kinds of screws for locking the IGBT, so as to lock the bottom plate and the IGBT, and finally the bottom plate and the IGBT are assembled and fixed together.

[0093] After the bottom plate and the IGBT are assembled, the three-axis cylinder 152 and the pen-shaped cylinder 159 are retracted, and the carrier, the assembled bottom plate and the IGBT are placed on the roller set 16, and the carrier enters the next unit with the roller set 16 and the assembly line 14, so as to assemble the finished product.

[0094] The assembly process of the drive plate assembly: the drive plate is grabbed by the six-axis linkage robot and placed on the receiving plate 1122, then the drive plate is fixed in position, the outer pressure cylinder 1130 arranged longitudinally is retracted to drive the longitudinal sliding block to move inward along the longitudinal rail 1125, so as to drive the longitudinal seat 1127 and the limiting plate 1128 to move towards the first vertical plate 1123 until the limiting plate 1128 and the first vertical plate 1123 abut against and fix the front and back sides of the drive plate; the outer pressure cylinder 1130 arranged transversely is retracted to drive the transverse sliding block to move inward along the transverse rail 1126, so as to drive the limiting block 1129 to move towards the second vertical plate 1124 until the limiting block 1129 and the second vertical plate 1124 abut against and fix the left and right sides of the drive plate.

[0095] After the driving plate is fixed, components to be assembled to the driving plate are locked by the airplane buckle or screw. When the airplane buckle is used, the airplane buckle feeder 1107 is started, and the inside of the airplane buckle feeder 1107 has two vibration discs corresponding to two different airplane buckles, and through a 2-to-1 distribution mechanism, the required airplane buckle is blown to the airplane buckle screw machine 1106, a vacuum generator generates negative pressure to adsorb the blown airplane buckle, the first three-axis locking machine frame 1101 runs to the airplane buckle locking position on the driving plate, the first offset air cylinder 1103 places the airplane buckle at the target position of the driving plate, and at the same time, the intelligent electric wrench matched with the airplane buckle screw machine 1106 is rotated and pressed down, so that the airplane buckle is locked to the driving plate; then, the six-axis linkage robot with a clamping jaw places the component to be pressed on the top of the airplane buckle, and the vision system (i.e. the camera 1110 installed on the third sliding table) detects whether the position is correct, and after confirming the correctness, the airplane buckle pressing air cylinder 1111 presses the component to be pressed into the airplane buckle slot. When the screw is used, the screw machine 1108 is started, the screw feeder 1109 blows the screw with correct posture to the front end of the screw machine 1108 through vibration sorting, and a vacuum generator generates negative pressure to adsorb the blown screw. The six-axis linkage robot places the required assembly component at the corresponding position of the driving plate, the camera 1110 installed on the third sliding table detects whether the position is correct, and after confirming the correctness, the first three-axis locking machine frame 1101 moves the screw machine 1108 to the screw locking position, the second offset air cylinder 1104 controls the screw machine 1108 to move down to contact the threaded hole on the driving plate, and at the same time, the intelligent electric wrench matched with the screw machine 1108 starts to rotate to lock the driving plate assembly. The camera 1110 installed on the third sliding table moves the position through the vision lifting air cylinder 1105 to ensure that the interference area is avoided when the airplane buckle is locked, the screw is locked, or the robot is grabbed. The airplane buckle screw machine 1106 and the screw machine 1108 are offset in stroke by the offset air cylinder at the upper end of each to ensure that they do not interfere with each other when working.

[0096] The assembling process of the terminal row assembly: the terminal plate is clamped and fixed by using the terminal plate positioning mechanism 122, the terminal plate is first grabbed by the six-axis linkage robot, assuming that the robot gripper clamps the front and rear sides of the terminal plate, the gripper of the six-axis linkage robot and the grabbed terminal plate are inserted into the mounting frame 1223, then the second adjusting motor 1238 is started to drive the driving wheel 1239 to rotate, the driving wheel 1239 drives the rear second bidirectional screw rod 1236 to rotate through the third belt and the driven wheel 1237, the second limit block 1234 is threadedly connected with the second bidirectional screw rod 1236, and due to the limiting effect of the second limit rail 1233, the end clamping strips 1235 on the left and right sides are relatively close to each other, so that the left and right sides of the terminal plate are clamped and fixed, then the clamping of the six-axis linkage robot gripper on the front and rear sides of the terminal plate is cancelled, and the six-axis linkage robot is moved outward; then the first adjusting motor 1229 is started, the first adjusting motor 1229 drives the driving wheel 1230 to rotate, the driving wheel 1230 drives the transmission wheel 1228 to rotate through the first belt, and the transmission wheel 1228 drives the left first bidirectional screw rod 1227 to rotate synchronously, the first bidirectional screw rods 1227 on the left and right sides are drivingly connected through the driven wheel 1232 and the second belt, so that the front and rear side clamping strips 1226 are relatively close to each other, thereby clamping the front and rear sides of the terminal plate.

[0097] After the terminal plate is clamped, the terminal is placed on the second sliding seat by the six-axis linkage robot, the terminal is fixed by the positioning cylinder on the second sliding seat, then the terminal is moved to the position directly below the hole of the terminal plate to be assembled by the terminal plane movement mechanism 121, then the terminal plate lifting cylinder 1222 is lowered and contracted, the mounting frame 1223 and the fixed terminal plate are lowered synchronously, until the terminal is assembled to the corresponding hole of the terminal plate, then whether the terminal and the terminal plate hole are aligned is detected by the camera. After the terminal and the terminal plate are aligned, the fourth sliding table is moved by the second three-axis locking rack 1201 (which can move in XYZ three-axis direction), so that the screw machine on the fourth sliding table is opposite to the terminal and the terminal plate, the screw machine is started, the screw feeder is responsible for blowing the screw to the front end of the screw machine, the vacuum generator generates negative pressure to suck the screw, and the intelligent electric screwdriver completes the screw locking by moving down and rotating through the cylinder. The misalignment cylinder is used for the relative position of the misalignment camera and the screw machine to avoid interference.

[0098] The terminal strip assembly, the drive board assembly and the main control board assembly are assembled by the automatic assembly part, the corresponding positioning mechanism is released after the assembly is completed, then the assembled bottom plate and the IGBT, the terminal strip assembly, the drive board assembly and the main control board assembly are placed on the carrier by the six-axis linkage robot, and then enter the loop conveying line 1 following the assembly line 14, and then enter the frequency converter component buffer unit 5, the NG buffer machine 4 (for automatically assembling the NG product offline), the frequency converter manual assembly unit 7 and the power-on debugging system. The manual assembly part, such as the frequency converter shell and the electric reactor, is moved to the loop conveying line 1 by the truss manipulator 3 and the hoisting equipment 6, so that the frequency converter shell, the electric reactor and the bottom plate assembled by the automatic assembly equipment are moved to the frequency converter manual assembly unit 7 to be manually assembled, and the assembled frequency converter product is input to the truss manipulator 3 through the loop conveying line 1 for product discharge or is conveyed to the power-on debugging system for power-on debugging.

[0099] Finally, it should be pointed out that the above embodiments are only used to illustrate the technical solutions of the present application and not to limit it. Although the present application has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present application can be modified or replaced equivalently without departing from the purpose and scope of the technical solutions, which should be covered in the protection scope of the present application.

Claims

1. A frequency converter assembly line, characterized by: The frequency converter component automatic assembly equipment (2) is arranged on the outer side of the ring-shaped conveying line (1), and the frequency converter artificial assembly unit pretreatment workbench (8) is arranged outside the ring-shaped conveying line (1). The frequency converter component automatic assembly equipment (2) comprises a support frame (9), an IGBT gluing module (10), a drive plate assembly module (11) and a terminal plate assembly module (12) arranged on the support frame (9), and a plurality of placing grooves are arranged on the upper side of the support frame (9) away from one end of the ring-shaped conveying line (1), and a tray is arranged in each placing groove, the tray is used for containing IGBT, main control board assembly, drive plate assembly and terminal plate assembly, a robot sliding table fixedly connected with the support frame (9) is arranged between the IGBT gluing module (10), the drive plate assembly module (11) and the terminal plate assembly module (12) and the placing grooves, a six-axis linkage robot with a clamping jaw is arranged on the robot sliding table, and a driving motor for driving the six-axis linkage robot to move horizontally is arranged on the robot sliding table. The flow line (14) is arranged between the frequency converter component automatic assembly equipment (2) and the ring-shaped conveying line (1). The centering assembly module (15) is arranged at one end of the flow line (14) close to the frequency converter component automatic assembly equipment (2), and is used for centering the product on the carrier and assisting assembly. The gantry robot (3) is used for conveying the shell, the bottom plate and part of components of the frequency converter to the ring-shaped conveying line (1), and is used for discharging the finished frequency converter. The ring-shaped conveying line (1) is provided with a plurality of carriers, the carriers are used for loading the bottom plate, the main control board, the drive plate, the terminal plate and the NG product assembled by the frequency converter component automatic assembly equipment (2), and are used for loading the frequency converter components and finished products conveyed to the ring-shaped conveying line (1). The NG buffer machine (4) is arranged at the bending position of the ring-shaped conveying line (1), and is used for discharging the NG product assembled by the frequency converter component automatic assembly equipment (2). The frequency converter component buffer unit (5) is used for buffering the semi-finished product assembly output by the frequency converter component automatic assembly equipment (2). The power-on debugging system is used for power-on debugging of the frequency converter. The hoisting equipment (6) comprises a speed chain flow line, an artificial tool rack and a cantilever crane, and is used for discharging the reactor and the shell of the frequency converter. The frequency converter artificial assembly unit (7) is used for assembling the finished product of the frequency converter. The in-line and out-line artificial assembly unit pretreatment workbench (8) comprises a workbench and auxiliary tools, and is used for polishing and trimming the frequency converter components. The frequency converter assembly line is further provided with a high-definition vision system, and the high-definition vision system is used for assisting the shell of the frequency converter, the finished product of the frequency converter and assembly.

2. The frequency converter assembly line of claim 1, wherein: The IGBT gluing module (10) comprises a three-axis automatic coating rack (1001) arranged on a support frame (9), a glue wiping mechanism (103) and a plurality of IGBT positioning mechanisms (102); The free end of the three-axis automatic coating rack (1001) is fixedly connected with a glue applicator, the glue applicator comprises a glue cylinder (1002) and a coating scraper (1003) arranged on the three-axis automatic coating rack (1001), and the bottom of the coating scraper (1003) is provided with a glue outlet; The IGBT positioning mechanism (102) is used for clamping, overturning and rotating the IGBT to be glued; The glue wiping mechanism (103) is used for removing the heat-conducting silicone grease remaining in the glue outlet of the coating scraper (1003).

3. The frequency converter assembly line of claim 2, wherein: The IGBT positioning mechanism (102) comprises a rotating air cylinder (1021), a support (1022) arranged in a U shape is fixedly connected to the output end of the upper side of the rotating air cylinder (1021), a carrier plate (1023) is rotatably connected to the upper end of the support (1022), a overturning air cylinder (1024) is arranged on the outer side of the support (1022), the output end of the overturning air cylinder (1024) is fixedly connected with the carrier plate (1023), a clamping groove matched with the IGBT is formed in the carrier plate (1023), clamping air cylinders (1025) fixedly connected with the carrier plate (1023) are arranged at both ends of the clamping groove, and the two clamping air cylinders (1025) are used for clamping and fixing the IGBT placed in the clamping groove; the IGBT positioning mechanism (102) is also provided with a material sensor.

4. The frequency converter assembly line of claim 3, wherein: The glue wiping mechanism (103) comprises a glue wiping box (1031), a glue collecting box is arranged in the glue wiping box (1031), two arc grooves (1032) communicating with the glue collecting box are arranged on the upper side of the glue wiping box (1031), a stepping motor is arranged at the lower part of the inner cavity of the glue wiping box (1031), the output end of the stepping motor is fixedly connected with a driving turntable (1033) which extends out of the glue wiping box (1031), a driven turntable (1034) is arranged on one side of the driving turntable (1033) and rotatably connected with the glue wiping box (1031), a glue wiping table (1035) and two guide rollers (1036) fixedly connected with the glue wiping box (1031) are arranged between the driving turntable (1033) and the driven turntable (1034), a glue wiping belt (1037) is wound on the driven turntable (1034), and the free end of the glue wiping belt (1037) is wound on the driving turntable (1033) through the two guide rollers (1036) and the glue wiping table (1035).

5. The frequency converter assembly line of claim 4, wherein: The driving plate assembly module (11) comprises a first three-axis locking rack (1101) and a driving plate positioning mechanism (112) arranged on the support frame (9), the free end of the first three-axis locking rack (1101) is fixedly connected with a first mounting plate (1102), the first mounting plate (1102) is provided with a first offset air cylinder (1103) and a first guide rail, a second offset air cylinder (1104) and a second guide rail, a visual lifting air cylinder (1105) and a third guide rail, the first guide rail is slidably connected with a first sliding table on which an airplane buckle screwing machine (1106) is arranged, the airplane buckle screwing machine (1106) is matched with an airplane buckle feeder (1107), the telescopic end of the first offset air cylinder (1103) is fixedly connected with the first sliding table, the second guide rail is slidably connected with a second sliding table on which a screwing machine (1108) is arranged, the screwing machine (1108) is matched with a screw feeder (1109), the telescopic end of the second offset air cylinder (1104) is fixedly connected with the second sliding table, the third guide rail is slidably connected with a third sliding table on which a camera (1110) is arranged, the telescopic end of the visual lifting air cylinder (1105) is fixedly connected with the third sliding table, the first mounting plate (1102) is further provided with an airplane buckle pressing cylinder (1111) matched with the airplane buckle screwing machine (1106) and a vacuum generator matched with the airplane buckle screwing machine (1106) and the screwing machine (1108). The driving plate positioning mechanism (112) is used for limiting and fixing the driving plate, so as to assemble the driving plate.

6. A frequency converter assembly line according to claim 5, characterized in that: The driving plate positioning mechanism (112) comprises four supporting columns (1121) fixedly connected with the support frame (9), the upper end of the supporting column (1121) is provided with a supporting plate (1122), the upper side of the supporting plate (1122) is provided with a first vertical plate (1123) and a second vertical plate (1124) perpendicular to each other, the supporting plate (1122) is provided with a longitudinal through slot and a transverse through slot, the lower side of the supporting plate (1122) is provided with a longitudinal rail (1125) and a transverse rail (1126), the longitudinal rail (1125) is slidably connected with a longitudinal sliding block, the longitudinal sliding block is fixedly connected with a longitudinal seat (1127), the upper end of the longitudinal seat (1127) protruding from the longitudinal through slot is fixedly connected with a limiting plate (1128) corresponding to the first vertical plate (1123), the transverse rail (1126) is slidably connected with a transverse sliding block, one side of the transverse sliding block is provided with a limiting clamping block (1129) protruding from the transverse through slot, the limiting clamping block (1129) is opposite to the second vertical plate (1124), the longitudinal rail (1125) and the transverse rail (1126) are both matched with an external pressure cylinder (1130), the telescopic end of the external pressure cylinder (1130) matched with the longitudinal rail (1125) is fixedly connected with the longitudinal seat (1127), the telescopic end of the external pressure cylinder (1130) matched with the transverse rail (1126) is fixedly connected with the limiting clamping block (1129).

7. The frequency converter assembly line of claim 5, wherein: The terminal plate assembly module (12) comprises a second three-axis locking rack (1201) fixedly connected with the support frame, a terminal plate positioning mechanism (122) and a terminal plane movement mechanism (121), the free end of the second three-axis locking rack (1201) is fixedly connected with a second mounting plate (1202), the second mounting plate (1202) is provided with a fourth misalignment air cylinder (1203), a fourth guide rail and a camera support, the fourth guide rail is slidably connected with a fourth sliding table provided with a screw machine (1108), the screw machine (1108) is matched 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 misalignment air cylinder (1203) is fixedly connected with the fourth sliding table, and the camera support is provided with a camera (1110). The terminal plate positioning mechanism (122) is used for clamping and fixing terminal plates of different sizes. The terminal plane movement mechanism (121) is used for fixing terminals and moving the terminals to be directly below the hole positions of the terminal plate to be assembled.

8. The frequency converter assembly line of claim 7, wherein: The terminal plate positioning mechanism (122) is located inside the second three-axis locking rack (1201), the terminal plate positioning mechanism (122) includes two vertical baffle plates (1221) fixedly connected with the support frame (9), both sides of the two vertical baffle plates (1221) are provided with terminal plate lifting cylinders (1222), the telescopic ends of the two terminal plate lifting cylinders (1222) are fixedly connected with mounting frames (1223) in sliding connection with the vertical baffle plates (1221), both sides of the mounting frames (1223) are provided with first limiting rails (1224), both ends of the first limiting rails (1224) are slidingly connected with first limiting blocks (1225), and the corresponding two first limiting blocks (1225) on the left and right sides of the mounting frames (1223) are fixedly connected with side clamping strips (1226). The two side clamping strips (1226) are parallel to each other, the side clamping strips (1226) are perpendicular to the vertical baffle plates (1221), both sides of the mounting frames (1223) are rotatably connected with first bidirectional threaded rods (1227), the two threaded sections of a single first bidirectional threaded rod (1227) are threadedly connected with the two first limiting blocks (1225) on the same side of the mounting frame (1223), one of the first bidirectional threaded rods (1227) is fixedly connected with a transmission wheel (1228) at the middle portion, the outer side of the mounting frame (1223) is provided with a first adjusting motor (1229), the output end of the first adjusting motor (1229) is fixedly connected with a driving wheel (1230), the driving wheel (1230) is in transmission connection with the transmission wheel (1228) through a first belt, and the front side of the mounting frame (1223) is provided with an abutting plate (1231) abutting against the vertical baffle plate (1221). Both of the first bidirectional threaded rods (1227) penetrate through the abutting plate (1231) and are fixedly connected with driven wheels (1232), and the two driven wheels (1232) are in transmission connection through a second belt; the front and rear inner sides of the mounting frame (1223) are provided with second limiting rails (1233), both ends of the second limiting rails (1233) are slidingly connected with second limiting blocks (1234), and the corresponding two second limiting blocks (1234) on the front and rear sides of the mounting frame (1223) are fixedly connected with end clamping strips (1235). The two end clamping strips (1235) are parallel to each other, the rear inner side of the mounting frame (1223) is rotatably connected with a second bidirectional threaded rod (1236), the two threaded sections of the second bidirectional threaded rod (1236) are threadedly connected with the two second limiting blocks (1234), the middle portion of the second bidirectional threaded rod (1236) is fixedly connected with a driven wheel (1237), the outer side of the mounting frame (1223) is provided with a second adjusting motor (1238), the output end of the second adjusting motor (1238) is fixedly connected with a driving wheel (1239), and the driving wheel (1239) is in transmission connection with the driven wheel (1237) through a third belt.

9. The frequency converter assembly line of claim 8, wherein: The terminal plane movement mechanism (121) is located in the lower side of two vertical baffle plates (1221), the terminal plane movement mechanism (121) includes an X-direction sliding rail (1211), a first sliding seat is slidably connected on the X-direction sliding rail (1211), a first linear motor is arranged on one side of the X-direction sliding rail (1211) and drives the first sliding seat to move along the X-direction sliding rail (1211), a Y-direction sliding rail (1212) is fixedly connected on the first sliding seat, a second sliding seat is slidably connected on the Y-direction sliding rail (1212), a second linear motor is arranged on one side of the Y-direction sliding rail (1212) and drives the second sliding seat to move along the Y-direction sliding rail (1212), two oppositely arranged positioning air cylinders are installed on the upper side of the second sliding seat, clamping plates are fixedly connected to the extension ends of the two positioning air cylinders, and a material sensor is arranged on one side of the second sliding seat.

10. The frequency converter assembly line of claim 9, wherein: The centering assembly module (15) comprises a mounting groove arranged on the 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), a U-shaped seat (153) is fixedly connected to the output end of the three-axis cylinder (152), a fixed plate (154) is fixedly connected to the upper end of the U-shaped seat (153), lower push plates (155) are slidably connected to the front and rear ends of the lower side of the fixed plate (154), the two lower push plates (155) are driven by a cylinder and a gear and rack bidirectional extension mechanism to relatively approach or move away from each other, three limiting rods (156) are fixedly connected to the upper side of each lower push plate (155), sliding grooves are arranged on the fixed plate (154) corresponding to the positions of the limiting rods (156) of the lower push plates (155), upper push plates (157) are slidably connected to the left and right ends of the upper side of the fixed plate (154), the two upper push plates (157) are also driven by a cylinder and a gear and rack bidirectional extension mechanism to relatively approach or move away from each other, limiting rods (156) are also fixedly connected to the upper push plates (157), vertical columns (158) are also arranged on the fixed plate (154), eyelets are arranged on the upper ends of the vertical columns (158), pen-shaped cylinders (159) are arranged on the left and right ends of the base (151) and arranged vertically, and the output ends of the pen-shaped cylinders (159) extend out of the fixed plate (154) and are fixedly connected with bolts; The position corresponding to the flow water line (14) is provided with a motor-driven roller group (16) in the installation groove, the roller group (16) is used for supporting and conveying the carrier, a third three-axis locking rack (13) fixedly connected with the supporting frame is arranged above the roller group (16), the free end of the third three-axis locking rack (13) is fixedly connected with a third mounting plate, the third mounting plate is provided with a fifth staggered air cylinder and a fifth guide rail, a sixth staggered air cylinder and a sixth guide rail, a visual lifting air cylinder and a seventh guide rail, a fifth sliding table provided with a screw machine is slidably connected to the fifth guide rail, the telescopic end of the fifth staggered air cylinder is fixedly connected with the fifth sliding table, a sixth sliding table provided with a screw machine is slidably connected to the sixth guide rail, the telescopic end of the sixth staggered air cylinder is fixedly connected with the sixth sliding table, a seventh sliding table provided with a camera is slidably connected to the seventh guide rail, the telescopic end of the visual lifting air cylinder is fixedly connected with the seventh sliding table, and the screw machines are all matched with screw feeders; a vacuum generator matched with the screw machine is also arranged on the third mounting plate; The carrier is provided in the form of a rectangular plate, a through groove is formed at the position corresponding to the limiting rod (156), a through hole is formed at the position corresponding to the stand (158), and a bolt lifting hole is formed at the position corresponding to the bolt.

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