Gluing and assembling device for frequency converter IGBT (Insulated Gate Bipolar Translator)

Abstract

The invention belongs to the field of frequency converter production and manufacturing, and discloses a gluing and assembling device for frequency converter IGBTs, the gluing and assembling device comprises a supporting frame, and a three-axis automatic coating rack, a glue wiping mechanism and a plurality of IGBT positioning mechanisms which are arranged on the supporting frame, the free end of the three-axis automatic coating rack is fixedly connected with a gluer, and the gluer comprises a glue cylinder and a coating scraper; the IGBT positioning mechanism is used for clamping, overturning and rotating an IGBT to be glued; the glue wiping mechanism is used for removing residual heat conduction silicone grease on the coating scraper, and the glue coating assembly device is further provided with a transfer conveying line, a feeding and discharging machine, a centering assembly mechanism and a six-axis linkage robot with a clamping jaw in a matched mode. The gluing assembly device for the frequency converter IGBT is high in automation degree, high in assembly efficiency, good in stability, high in applicability and capable of supporting assembly of different types of frequency converter IGBTs and base plates.

Description

Technical Field

[0001] The invention belongs to the field of frequency converter manufacturing, and in particular relates to a gluing assembly device for an IGBT of a frequency converter. 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 a frequency converter IGBT gluing assembly device for frequency converter customers to improve the assembly efficiency and quality of frequency converter IGBT and baseplate. Summary of the invention

[0005] In view of this, the purpose of the present invention is to provide a glue coating assembly device for frequency converter IGBT. The present invention aims to solve the problems of low efficiency, poor stability and easy production of defective products in the traditional manual assembly of frequency converter IGBT and base plate.

[0006] To achieve the above-mentioned object, the present invention provides a gluing assembly device for an inverter IGBT, comprising a support frame and a three-axis automatic coating frame, a gluing mechanism and a plurality of IGBT positioning mechanisms arranged on the support frame;

[0007] 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;

[0008] The IGBT positioning mechanism is used to clamp, flip and rotate the IGBT to be coated with glue;

[0009] The eraser mechanism is used to remove the thermal grease remaining at the glue outlet of the coating scraper;

[0010] The assembly device is also equipped with a transfer conveyor line, on which a plurality of carriers are placed, and the carriers are used to load the assembled IGBT and base plate. A plurality of loading and unloading machines are provided at one end of the support frame away from the transfer conveyor line, and the loading and unloading machines are used to provide a material box containing the IGBT. A robot slide fixedly connected to the support frame is provided between the three-axis automatic coating rack and the loading and unloading machines, and a six-axis linkage robot with a clamping claw is provided on the robot slide, and the robot slide is equipped with a driving motor for driving the six-axis linkage robot to move horizontally. A centering assembly mechanism is provided at one end of the support frame close to the transfer conveyor line, and the centering assembly mechanism is used to assemble the IGBT and the base plate, and transmit the assembled IGBT and the base plate to the transfer conveyor line;

[0011] The assembly device is also provided with a high-definition visual system, which is used to assist in gluing and assembling the IGBT.

[0012] 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.

[0013] 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.

[0014] Furthermore, the loading and unloading machine includes a material box elevator and a profile frame arranged on the outside of the support frame. An electric roller docking platform is provided on the lifting platform of the material box elevator, and an upper conveyor line and a lower conveyor line are provided on the profile frame. When the electric roller docking platform moves to the top, it faces the upper conveyor line, and when the electric roller docking platform moves to the bottom, it faces the lower conveyor line.

[0015] The cam is provided with a U-shaped seat, and the upper end of the U-shaped seat is fixedly connected with a fixing plate, and the front and rear ends of the lower side of the fixing plate are slidably connected with a lower push plate, and the two lower push plates are driven by a cylinder and a gear rack bidirectional telescopic mechanism to make the two lower push plates relatively close to or away from each other. A sliding groove is provided on the upper side of each lower push plate, and the left and right ends of the upper side of the fixing plate are slidably connected with an upper push plate, and 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 away from each other. The upper push plates are also fixedly connected with the limiting rods, and evenly distributed columns are also provided on the fixing plate, and flow eyes are installed on the upper ends of the columns, and vertically arranged pen-shaped cylinders are installed on the left and right ends of the base, and the output ends of the pen-shaped cylinders extend out of the fixing plate and are fixedly connected with a latch;

[0016] A motor-driven roller group is installed at a position corresponding to the transfer conveyor line on the inner side of the mounting groove, and the roller group is used for supporting and conveying the carrier, and a three-axis locking frame fixedly connected to the supporting frame is provided above the roller group, and a mounting plate is fixedly connected to the free end of the three-axis locking frame, and 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 are provided on the mounting plate, and a first slide with a screw machine installed is slidably connected to the first guide rail, the telescopic end of the first offset cylinder is fixedly connected to the first slide, the second guide rail is slidably connected to the second slide with a screw machine installed, the telescopic end of the second offset cylinder is fixedly connected to the second slide, the third guide rail is slidably connected to the third slide with a camera installed, the telescopic end of the visual lifting cylinder is fixedly connected to the third slide, the screw machines are all equipped with screw feeders, and a vacuum generator matching the screw machines is also provided on the mounting plate.

[0017] Furthermore, the carrier is configured as 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.

[0018] Beneficial effects:

[0019] The invention is used for a gluing assembly device for a frequency converter IGBT, has high automation, high assembly efficiency, good stability, strong applicability, and supports automatic assembly of frequency converter IGBTs and base plates of different sizes and specifications.

[0020] 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

[0021] Figure 1 It is a structural schematic diagram of a gluing assembly device for an inverter IGBT of the present invention;

[0022] Figure 2 It is a structural schematic diagram of the IGBT positioning mechanism;

[0023] Figure 3 It is a structural schematic diagram of the eraser mechanism;

[0024] Figure 4 It is a structural schematic diagram of the centering assembly mechanism;

[0025] Figure 5 It is a structural schematic diagram of the centering assembly mechanism centering component from the first perspective;

[0026] Figure 6 It is a structural schematic diagram of the centering assembly mechanism centering component from a second viewing angle;

[0027] Figure 7 is a schematic diagram of the structure of the vehicle;

[0028] Figure 8 It is a structural schematic diagram of the loading and unloading machine;

[0029] The reference numerals in the figure are as follows: three-axis automatic coating frame 1001, screw pump glue applicator 1002, coating scraper 1003, positioning mechanism 102, rotating cylinder 1021, bracket 1022, carrier plate 1023, flip cylinder 1024, clamping cylinder 1025, glue wiping mechanism 103, glue wiping box 1031, arc groove 1032, active turntable 1033, driven turntable 1034, glue wiping table 1035, guide roller 1036, glue wiping Belt 1037, loading and unloading machines 13, material box elevator 131, profile frame 132, electric roller docking platform 133, upper conveyor line 134, lower conveyor line 135, transfer conveyor line 14, centering assembly mechanism 15, base 151, three-axis cylinder 152, U-shaped seat 153, fixing plate 154, lower push plate 155, limit rod 156, upper push plate 157, column 158, pen-shaped cylinder 159, roller group 16, three-axis locking frame 17. DETAILED DESCRIPTION

[0030] 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.

[0031] like Figure 1-Figure 8 As shown, the present invention provides a gluing assembly device for an inverter IGBT, comprising a support frame and a three-axis automatic coating frame 1001, a gluing mechanism 103 and a plurality of IGBT positioning mechanisms 102 arranged on the support frame. In this embodiment, four IGBT positioning mechanisms 102 of different specifications are arranged;

[0032] 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;

[0033] 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;

[0034] 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 an eraser 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;

[0035] The assembly device is also equipped with a transfer conveyor line 14, on which a plurality of carriers are placed, and the carriers are used to load the assembled IGBT and base plate. A plurality of loading and unloading machines 13 are installed at one end of the support frame away from the transfer conveyor line 14, and the loading and unloading machines 13 are used to provide a material box containing the IGBT. A robot slide fixedly connected to the support frame is arranged between the three-axis automatic coating frame 1001 and the loading and unloading machines 13, and a six-axis linkage robot with a clamping claw is arranged on the robot slide, and the robot slide is equipped with a driving motor for driving the six-axis linkage robot to move horizontally. A centering assembly mechanism 15 is provided at one end of the support frame close to the transfer conveyor line 14, and the centering assembly mechanism 15 is used to assemble the IGBT and the base plate, and transmit the assembled IGBT and the base plate to the transfer conveyor line 14;

[0036] The gluing and assembling device of the present invention is also provided with a high-definition visual system, and the high-definition visual system is used to assist the gluing and assembling of the IGBT.

[0037] As a preferred embodiment of the present embodiment, the loading and unloading machine 13 includes a material box elevator 131 and a profile frame 132 arranged on the outside of the support frame. An electric roller docking platform 133 is installed on the lifting platform of the material box elevator 131. An upper conveyor line 134 and a lower conveyor line 135 are provided on the profile frame 132. When the electric roller docking platform 133 moves to the top, it faces the upper conveyor line 134. When the electric roller docking platform 133 moves to the bottom, it faces the lower conveyor line 135. In the present embodiment, the upper conveyor line 134 and the lower conveyor line 135 are both electric roller conveyor lines.

[0038] As a preferred embodiment of the present embodiment, the centering assembly mechanism 15 includes a mounting groove arranged on the support frame, a base 151 is installed in the mounting groove, 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, the front and rear ends of the lower side of the fixing plate 154 are slidably connected with a push-down plate 155, 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, 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;

[0039] A motor-driven roller group 16 is installed at the position corresponding to the transfer conveyor line 14 on the inner side of the installation groove. The roller group 16 is used to support and convey the carrier. A three-axis locking frame 17 fixedly connected to the support frame is provided above the roller group 16. The free end of the three-axis locking frame 17 is fixedly connected to a mounting plate. The 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. A first slide with a screw machine installed is slidably connected to the first guide rail, and the telescopic end of the first offset cylinder is fixedly connected to the first slide. The second guide rail is slidably connected to the second slide with a screw machine installed, and the telescopic end of the second offset cylinder is fixedly connected to the second slide. The third guide rail is slidably connected to the third slide with a camera installed, and the telescopic end of the visual lifting cylinder is fixedly connected to the third slide. The screw machines are all equipped with screw feeders. A vacuum generator matching the screw machines is also provided on the mounting plate. The two screw machines are used to provide two types of screws for IGBT locking.

[0040] 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.

[0041] The assembly process of the frequency converter assembly line of the present invention is as follows:

[0042] First, the material box containing IGBT is placed on the lower conveyor line 135 of the loading and unloading machine 13 by AGV, and the material box enters the electric roller docking platform 133 through the lower conveyor line 135. Then, the lifting platform and the electric roller docking platform 133 are lifted by the lifting action of the material box elevator 131, so that the material box is moved to the upper part, so that the six-axis linkage robot can grab the parts in the material box. After the parts in the material box are grabbed, the electric roller on the electric roller docking platform 133 rotates in the opposite direction to move the empty material box to the upper conveyor line 134, and then the AGV takes the empty material box from the upper conveyor line 134.

[0043] 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.

[0044] 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.

[0045] Centering of the bottom plate: first place the bottom plate on the carrier, and the carrier with the bottom plate moves to the roller group 16 along the transfer conveyor 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.

[0046] 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 by the three-axis locking rack 17. 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.

[0047] 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 along with the roller group 16 and the transfer conveyor line 14 for subsequent finished product assembly.

[0048] 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 glue coating assembly device for inverter IGBT, characterized in that: It comprises a support frame, and a three-axis automatic coating frame (1001), a glue erasing mechanism (103) and a plurality of IGBT positioning mechanisms (102) arranged on the support frame; 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); The assembly device is also equipped with a transfer conveyor line (14), on which a plurality of carriers are placed, and a plurality of loading and unloading machines (13) are provided at one end of the support frame away from the transfer conveyor line (14), and the loading and unloading machines (13) are used to provide a material box containing IGBTs, and a robot slide fixedly connected to the support frame is provided between the three-axis automatic coating frame (1001) and the loading and unloading machines (13), and a six-axis linkage robot with a clamping claw is provided on the robot slide, and the robot slide is equipped with a driving motor for driving the six-axis linkage robot to move horizontally, and a centering assembly mechanism (15) is provided at one end of the support frame close to the transfer conveyor line (14), and the centering assembly mechanism (15) is used to assemble the IGBT and the base plate, and transmit the assembled IGBT and the base plate to the transfer conveyor line; The assembly device is also provided with a high-definition visual system, which is used to assist in gluing and assembling the IGBT.

2. The gluing assembly device for the inverter IGBT according to claim 2 is 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.

3. The gluing assembly device for the inverter IGBT according to claim 3 is 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).

4. The gluing assembly device for the inverter IGBT according to claim 3 is characterized in that: The loading and unloading machine (13) comprises a material box elevator (131) and a profile frame (132) arranged outside a support frame. An electric roller docking platform (133) is arranged on the lifting platform of the material box elevator (131). An upper conveying line (134) and a lower conveying line (135) are arranged on the profile frame (132). When the electric roller docking platform (133) moves to the top, it faces the upper conveying line (134). When the electric roller docking platform (133) moves to the bottom, it faces the lower conveying line (135).

5. The gluing assembly device for the inverter IGBT according to claim 4 is characterized in that: The centering assembly mechanism (15) comprises a mounting groove arranged on a support frame, 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 with a U-shaped seat (153), an upper end of the U-shaped seat (153) is fixedly connected with a fixing plate (154), front and rear ends of the lower side of the fixing plate (154) are both slidably connected with a lower push plate (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) corresponds to the lower push plate (154). The positions of the push plate (155) and the limit rod (156) are provided with sliding grooves. The upper left and right ends of the upper side of the fixed plate (154) are slidably connected with upper push plates (157). 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 plates (157) are also fixedly connected with the limit rod (156). The fixed plate (154) is also provided with evenly distributed columns (158). 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). 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 transfer conveyor line (14) on the inner side of the installation groove, and the roller group (16) is used to support and transport the carrier. A three-axis locking frame (17) fixedly connected to the support frame is provided above the roller group (16), and a mounting plate is fixedly connected to the free end of the three-axis locking frame (17), and 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 are provided on the mounting plate. A first slide with a screw machine installed is slidably connected to the first guide rail, and the telescopic end of the first offset cylinder is fixedly connected to the first slide, and the second guide rail is slidably connected to the second slide with a screw machine installed, and the telescopic end of the second offset cylinder is fixedly connected to the second slide, and the third guide rail is slidably connected to the third slide with a camera installed, and the telescopic end of the visual lifting cylinder is fixedly connected to the third slide, and the screw machines are all equipped with screw feeders. A vacuum generator matched with the screw machines is also provided on the mounting plate.

6. The gluing assembly device for the inverter IGBT according to claim 5, characterized in that: 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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