A kind of rubber coating assembly device for frequency converter IGBT

Abstract

The application belongs to the field of frequency converter production and manufacturing, and discloses a gluing and assembling device for frequency converter IGBT, which comprises a supporting frame, a three-axis automatic coating rack, a glue wiping mechanism and a plurality of IGBT positioning mechanisms arranged on the supporting frame, a free end of the three-axis automatic coating rack is fixedly connected with a glue applicator, the glue applicator comprises a glue cylinder and a coating scraper, the IGBT positioning mechanisms are used for clamping, overturning and rotating the IGBT to be glued, the glue wiping mechanism is used for removing the residual heat-conducting silicone grease on the coating scraper, and the gluing and assembling device is also provided with a transfer conveying line, a feeding and discharging machine, a centering assembling mechanism and a six-axis linkage robot with clamping jaws. The gluing and assembling device for frequency converter IGBT has high automation degree, high assembling efficiency, good stability and strong applicability, and can support different types of frequency converter IGBT and bottom plate assembling.

Description

Technical Field

[0001] This invention belongs to the field of frequency converter manufacturing, and specifically relates to a gluing and assembly device for IGBTs in frequency converters. Background Technology

[0002] A variable-frequency drive (VFD) is a power control device that uses frequency conversion technology and microelectronics to control an AC motor by changing the frequency of the power supply. A VFD mainly consists of a rectification unit (AC to DC), a filter, an inverter (DC to AC), a braking unit, a drive unit, a detection unit, and a microprocessor unit. The VFD adjusts the voltage and frequency of the output power supply by switching its internal IGBTs, providing the required power voltage according to the actual needs of the motor, thereby achieving energy saving and speed regulation. In addition, the VFD has many protection functions, such as overcurrent, overvoltage, and overload protection.

[0003] With the growth and expansion of the chemical industry, the demand for electricity is increasing, leading to a continuous increase in the production of corresponding frequency converters. Traditionally, frequency converters are manufactured through manual assembly, which is inefficient, labor-intensive, unstable, and prone to producing defective products.

[0004] To meet the demand for automated production, our company has developed an IGBT gluing and assembly device for frequency converters to improve the assembly efficiency and quality of IGBTs and base plates. Summary of the Invention

[0005] In view of this, the purpose of this invention is to provide a glue application and assembly device for inverter IGBTs. This invention aims to solve the problems of low efficiency, poor stability, and high rate of defective products in traditional manual assembly of inverter IGBTs and base plates.

[0006] To achieve the above objectives, the present invention provides a gluing and assembly device for IGBTs in frequency converters, including a support frame and a three-axis automatic coating frame, a wiping mechanism and several IGBT positioning mechanisms disposed on the support frame.

[0007] The free end of the three-axis automatic coating frame is fixedly connected to an applicator. The applicator includes an applicator cylinder and a coating blade set on the three-axis automatic coating frame. The bottom of the coating blade is provided with an applicator outlet.

[0008] The IGBT positioning mechanism is used to clamp, flip, and rotate the IGBTs to be coated with adhesive.

[0009] The adhesive wiping mechanism is used to remove residual thermal grease from the adhesive outlet of the coating scraper;

[0010] The assembly device is also equipped with a transfer conveyor line, on which multiple carriers are placed. The carriers are used to load the assembled IGBTs and base plates. At the end of the support frame away from the transfer conveyor line, there are several loading and unloading machines. The loading and unloading machines are used to provide bins containing IGBTs. A robot slide is fixedly connected to the support frame between the three-axis automatic coating frame and the loading and unloading machines. The robot slide is equipped with a six-axis linkage robot with grippers. The robot slide is equipped with a drive motor that drives the six-axis linkage robot to move horizontally. At the end of the support frame near the transfer conveyor line, there is a centering assembly mechanism. The centering assembly mechanism is used to assemble the IGBTs and base plates and transfer the assembled IGBTs and base plates to the transfer conveyor line.

[0011] The assembly device is also equipped with a high-definition vision system, which is used to assist in the application of adhesive and assembly of IGBTs.

[0012] Furthermore, the IGBT positioning mechanism includes a rotary cylinder, with a U-shaped bracket fixedly connected to the output end of the rotary cylinder. A carrier plate is rotatably connected to the upper end of the bracket. A flipping cylinder is provided on the outside of the bracket, with its output end fixedly connected to the carrier plate. The carrier plate has a slot for cooperating with the IGBT, and clamping cylinders fixedly connected to the carrier plate are provided at both ends of the slot. 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 handling and detection of the presence or absence of material.

[0013] Furthermore, the adhesive wiping mechanism includes an adhesive wiping box, which contains an adhesive collection box. The upper side of the adhesive wiping box has two arc grooves communicating with the adhesive collection box. A stepper motor is provided in the lower part of the inner cavity of the adhesive wiping box. The output end of the stepper motor extends out of the adhesive wiping box and is fixedly connected to an active turntable. A driven turntable is provided on one side of the active turntable and is rotatably connected to the adhesive wiping box. An adhesive wiping table and two guide rollers are also provided between the driven turntable and the active turntable and are fixedly connected to the adhesive wiping box. An adhesive wiping belt is wound on the driven turntable, and the free end of the adhesive wiping belt is wound on the active turntable via the two guide rollers and the adhesive wiping table.

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

[0015] Furthermore, the centering assembly mechanism includes an installation groove on the support frame, a base in the installation groove, a three-axis cylinder installed in the middle of the base, a U-shaped seat fixedly connected to the output end of the three-axis cylinder, a fixed plate fixedly connected to the upper end of the U-shaped seat, and push plates slidably connected to the front and rear ends of the lower side of the fixed plate. The two push plates are driven by a cylinder and a gear rack bidirectional telescopic mechanism to bring the two push plates closer or further apart. Three limit rods are fixedly connected to the upper side of each push plate. Sliding grooves are opened on the fixed plate at the positions corresponding to the limit rods of the push plates. Upward push plates are slidably connected to the left and right ends of the upper side of the fixed plate. The two upward push plates are also driven by a cylinder and a gear rack bidirectional telescopic mechanism to bring the two upward push plates closer or further apart. Limit rods are also fixedly connected to the upward push plates. The fixed plate is also provided with evenly distributed columns, each with a flow hole installed at its upper end. Vertical pen-shaped cylinders are installed at the left and right ends of the base. The output end of the pen-shaped cylinder extends out of the fixed plate and is fixedly connected to a pin.

[0016] A motor-driven roller assembly is installed inside the mounting groove at the position corresponding to the transfer conveyor line. The roller assembly is used to support and transport the carrier. A three-axis locking frame is fixedly connected to the support frame above the roller assembly. A mounting plate is fixedly connected to the free end of the three-axis locking frame. The mounting plate is equipped with a first misalignment cylinder and a first guide rail, a second misalignment cylinder and a second guide rail, a vision lifting cylinder and a third guide rail. A first slide table on which a screw machine is mounted is slidably connected to the first guide rail. The telescopic end of the first misalignment cylinder is fixedly connected to the first slide table. A second slide table on which a screw machine is mounted is slidably connected to the second guide rail. The telescopic end of the second misalignment cylinder is fixedly connected to the second slide table. A third slide table on which a camera is mounted is slidably connected to the third guide rail. The telescopic end of the vision lifting cylinder is fixedly connected to the third slide table. Each screw machine is equipped with a screw feeder. A vacuum generator for the screw machine is also provided on the mounting plate.

[0017] Furthermore, the carrier is arranged in the form of a rectangular plate, and the carrier has a through groove at the position corresponding to the limit rod, a through hole at the position corresponding to the column, and a pin lifting hole at the position corresponding to the pin. Beneficial effects

[0018] This invention relates to a gluing and assembly device for IGBTs in frequency converters. It features a high degree of automation, high assembly efficiency, good stability, and strong applicability, supporting the automatic assembly of IGBTs and base plates of frequency converters of different sizes and specifications.

[0019] Other advantages, objectives, and features of the invention will be set forth in part in the description which follows, and in part will be apparent to those skilled in the art from the following examination, or may be learned from practice of the invention. The objectives and other advantages of the invention can be realized and obtained through the following description. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the adhesive application and assembly device for IGBTs in frequency converters according to the present invention.

[0021] Figure 2 A schematic diagram of the IGBT positioning mechanism;

[0022] Figure 3 This is a schematic diagram of the adhesive application mechanism;

[0023] Figure 4 This is a schematic diagram of the centering assembly mechanism;

[0024] Figure 5 This is a structural schematic diagram of the centering assembly mechanism from a first-person perspective.

[0025] Figure 6 This is a structural schematic diagram of the centering assembly mechanism from a second perspective.

[0026] Figure 7 This is a structural schematic diagram of the vehicle;

[0027] Figure 8 This is a schematic diagram of the loading and unloading machine.

[0028] The reference numerals in the figure are as follows: Three-axis automatic coating frame 1001, glue cylinder 1002, coating blade 1003, positioning mechanism 102, rotary cylinder 1021, support 1022, carrier plate 1023, tilting cylinder 1024, clamping cylinder 1025, glue wiping mechanism 103, glue wiping box 1031, arc groove 1032, driving turntable 1033, driven turntable 1034, glue wiping table 1035, guide roller 1036, glue wiping belt 1 037. Loading and unloading machine; 13. Material box elevator; 131. Profile frame; 132. Electric roller docking station; 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. Limiting rod; 156. Upper push plate; 157. Column; 158. Pen-shaped cylinder; 159. Roller assembly; 16. Three-axis locking frame; 17. Detailed Implementation

[0029] To make the technical solutions, advantages, and objectives of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the described embodiments of the present invention without creative effort are within the protection scope of this application.

[0030] like Figures 1-8 As shown, the present invention provides a gluing and assembly device for IGBTs of frequency converters, including a support frame and a three-axis automatic coating frame 1001, a glue wiping mechanism 103 and several IGBT positioning mechanisms 102 disposed on the support frame. In this embodiment, four different specifications of IGBT positioning mechanisms 102 are provided.

[0031] A glue applicator is fixedly connected to the free end of the three-axis automatic coating frame 1001. The glue applicator includes a glue cylinder 1002 and a coating blade 1003 set on the three-axis automatic coating frame 1001. The bottom of the coating blade 1003 is provided with a glue outlet.

[0032] The IGBT positioning mechanism 102 is used to clamp, flip, and rotate the IGBTs to be coated with adhesive. The IGBT positioning mechanism 102 includes a rotary cylinder 1021. A U-shaped bracket 1022 is fixedly connected to the output end of the rotary cylinder 1021. A carrier plate 1023 is rotatably connected to the upper end of the bracket 1022. A flipping cylinder 1024 is installed on the outside of the bracket 1022. The output end of the flipping cylinder 1024 is fixedly connected to the carrier plate 1023. The carrier plate 1023 has a slot for cooperating with the IGBT. Clamping cylinders 1025 are fixedly connected to the carrier plate 1023 at both ends of the slot. The two clamping cylinders 1025 are used to clamp and fix the IGBTs placed in the slots. The IGBT positioning mechanism 102 is also equipped with a material sensor, which can realize automatic alarm for material picking and detection of the presence or absence of material.

[0033] The adhesive wiping mechanism 103 is used to remove residual thermal grease from the nozzle of the coating scraper 1003. The adhesive wiping mechanism 103 includes an adhesive wiping box 1031, which contains a glue collection box. Two arc-shaped grooves 1032 communicating with the glue collection box are provided on the upper side of the adhesive wiping box 1031. A stepper motor is installed in the lower part of the inner cavity of the adhesive wiping box 1031. The output end of the stepper motor extends out of the adhesive wiping box 1031 and is fixedly connected to an active turntable 1033. On the left side of 1033, there is a driven turntable 1034 that is rotatably connected to the glue wiping box 1031. Between the driven turntable 1034 and the driving turntable 1033, there is also a glue wiping table 1035 that is fixedly connected to the glue wiping box 1031 and two guide rollers 1036. A glue wiping belt 1037 is wound on the driven turntable 1034. The free end of the glue wiping belt 1037 is wound on the driving turntable 1033 via the two guide rollers 1036 and the glue wiping table 1035.

[0034] The assembly device is also equipped with a transfer conveyor line 14, on which multiple carriers are placed. The carriers are used to load the assembled IGBTs and base plates. Several loading and unloading machines 13 are installed at the end of the support frame away from the transfer conveyor line 14. The loading and unloading machines 13 are used to provide bins containing IGBTs. A robot slide is fixedly connected to the support frame between the three-axis automatic coating frame 1001 and the loading and unloading machines 13. A six-axis linkage robot with grippers is installed on the robot slide. The robot slide is equipped with a drive motor that drives the six-axis linkage robot to move horizontally. A centering assembly mechanism 15 is provided at the end of the support frame near the transfer conveyor line 14. The centering assembly mechanism 15 is used to assemble IGBTs and base plates and to transfer the assembled IGBTs and base plates to the transfer conveyor line 14.

[0035] The adhesive application and assembly device of the present invention is also equipped with a high-definition vision system, which is used to assist in the adhesive application and assembly of IGBTs.

[0036] In a preferred embodiment, the loading and unloading machine 13 includes a bin elevator 131 and a profile frame 132 disposed outside the support frame. An electric roller conveyor 133 is installed on the lifting platform of the bin elevator 131. An upper conveyor line 134 and a lower conveyor line 135 are provided on the profile frame 132. When the electric roller conveyor 133 moves to the top, it faces the upper conveyor line 134. When the electric roller conveyor 133 moves to the bottom, it faces the lower conveyor line 135. In this embodiment, both the upper conveyor line 134 and the lower conveyor line 135 are electric roller conveyors.

[0037] As a preferred embodiment, the centering assembly mechanism 15 includes an installation groove on the support frame, a base 151 is installed in the installation groove, a three-axis cylinder 152 is installed on the upper middle part of the base 151, a U-shaped seat 153 is fixedly connected to the output end of the three-axis cylinder 152, a fixing plate 154 is fixedly connected to the upper end of the U-shaped seat 153, and a push plate 155 is slidably connected to both the front and rear ends of the lower side of the fixing plate 154. The two push plates 155 are driven by a cylinder and a gear rack bidirectional telescopic mechanism to make the two push plates 155 move closer or further apart. Three limiting rods 156 are fixedly connected to the upper side of each push plate 155, and the fixing plate 154 is provided with a sliding groove at the position of the limiting rods 156 of the push plate 155. Both sides of the upper side of the fixed plate 154 are slidably connected to the upper push plates 157. The two upper push plates 157 are also driven by a cylinder and a gear rack bidirectional telescopic mechanism to bring the two upper push plates 157 closer or further apart. Limit rods 156 are also fixedly connected to the upper push plates 157. The fixed plate 154 is also provided with evenly distributed columns 158. Each column 158 has a flow hole installed at its upper end. Both sides of the base 151 are equipped with vertically arranged pen-shaped cylinders 159. The output end of the pen-shaped cylinders 159 extends out of the fixed plate 154 and is fixedly connected to a pin.

[0038] A motor-driven roller assembly 16 is installed inside the mounting slot at the position corresponding to the transfer conveyor line 14. The roller assembly 16 is used to support and transport the carrier. Above the roller assembly 16 is a three-axis fastening frame 17 fixedly connected to the support frame. The free end of the three-axis fastening frame 17 is fixedly connected to a mounting plate. The mounting plate is equipped with a first misalignment cylinder and a first guide rail, a second misalignment cylinder and a second guide rail, a vision lifting cylinder and a third guide rail. A first slide table on which a screw fastener is mounted is slidably connected to the first guide rail. The telescopic end of the first misalignment cylinder is fixedly connected to the first slide table. A second slide table on which a screw fastener is mounted is slidably connected to the second guide rail. The telescopic end of the second misalignment cylinder is fixedly connected to the second slide table. A third slide table on which a camera is mounted is slidably connected to the third guide rail. The telescopic end of the vision lifting cylinder is fixedly connected to the third slide table. Each screw fastener is equipped with a screw feeder. The mounting plate is also equipped with a vacuum generator that is matched with the screw fastener. The two screw fasteners are used to provide two types of screws for IGBT fastening.

[0039] As a preferred embodiment, the carrier is arranged in the form of a rectangular plate. The carrier has a through groove at the position corresponding to the limit rod 156, a through hole at the position corresponding to the column 158, and a pin lifting hole at the position corresponding to the pin.

[0040] The assembly process of the inverter assembly line of this invention is as follows:

[0041] First, the AGV places the bin containing IGBTs onto the lower conveyor line 135 of the loading / unloading machine 13. The bin then enters the electric roller docking station 133 via the lower conveyor line 135. Subsequently, the lifting platform and the electric roller docking station 133 are lifted by the bin elevator 131, thereby moving the bin to the upper part so that the six-axis linkage robot can grab the parts inside the bin. After the parts inside the bin are grabbed, the electric roller on the electric roller docking station 133 rotates in the opposite direction, moving the empty bin to the upper conveyor line 134. Then, the AGV takes the empty bin from the upper conveyor line 134.

[0042] IGBT coating process: First, the position of the bracket 1022 is adjusted by rotating cylinder 1021, thereby adjusting the standby and handover postures of the IGBT positioning mechanism 102. After rotating to the handover posture, the IGBT is placed on the carrier plate 1023 of the IGBT positioning mechanism 102 by a six-axis linkage robot. Then, the IGBT is clamped and fixed by clamping cylinder 1025. Afterward, the carrier plate 1023 is flipped by flipping cylinder 1024 so that the bottom of the IGBT faces upward. Then, the coating scraper 1003 is moved to directly above the IGBT by three-axis automatic coating frame 1001. The coating scraper 1003 scrapes the IGBT to evenly coat the thermal grease on the base plate. Afterward, the clamping cylinder 1025 is retracted to release the IGBT positioning mechanism 102 from fixing it, so that the IGBT can be picked up by the six-axis linkage robot after coating.

[0043] After the coating blade 1003 has applied the adhesive, it needs to be cleaned, otherwise it will solidify and clog, affecting subsequent adhesive application. The cleaning process is as follows: The three-axis automatic coating frame 1001 extends the coating blade 1003 towards the arc groove 1032 and moves it, allowing the thermal grease adhering to the coating blade 1003 to fall into the collection box. Then, the three-axis automatic coating frame 1001 moves the coating blade 1003 so that the adhesive outlet at the lower end of the coating blade 1003 is in close contact with the adhesive wiping tape 1037 on the wiping table 1035. Then, the stepper motor is started, driving the adhesive wiping tape 1037 to move and wrap around the active turntable 1033. During the movement of the adhesive wiping tape 1037, the adhesive outlet at the lower end of the coating blade 1003 is further cleaned.

[0044] Base plate alignment: First, place the base plate on the carrier. The carrier with the base plate moves to the roller group 16 along the transfer conveyor line 14. Then, activate the pen-shaped cylinder 159 to raise the pin, lifting the carrier carrying the base plate and separating it from the roller group 16. Then, activate 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 raising the column 158. The column 158 passes through the through hole through the carrier to lift the base plate. At the same time, the limit rod 156 passes through the through groove through the carrier and is located outside the base plate. Then, activate the cylinders matching the lower push plate 155 and the upper push plate 157. The cylinders drive the corresponding two push plates to move closer to each other through the gear rack bidirectional telescopic mechanism. The limit rod 156 moves with the push plate, thereby driving the base plate to move towards the center under the support of multiple column 158 openings.

[0045] Assembly of the base plate and IGBT: After the base plate is moved to the middle of the carrier, the six-axis linkage robot grabs the IGBT after applying glue and places the glued IGBT in the installation position on the base plate. Then, the position of the two screw machines is adjusted by the three-axis fastening frame 17. The two screw machines are used to provide two types of screws for fastening the IGBT, thereby fastening the base plate and IGBT, and finally assembling and fixing the base plate and IGBT together.

[0046] 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 back on the roller group 16. The carrier enters the next unit with the roller group 16 and the transfer conveyor line 14 for subsequent finished product assembly.

[0047] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the present invention, and all such modifications or substitutions should be covered within the protection scope of the present invention.

Claims

1. A gluing assembly device for frequency converter IGBTs, characterized by: The device comprises a support frame, a three-axis automatic coating rack (1001), a glue wiping mechanism (103) and a plurality of IGBT positioning mechanisms (102) arranged on the support frame; 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, turning over 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); The assembly device is also matched with a transfer conveying line (14), a plurality of carriers are placed on the transfer conveying line (14), and a plurality of feeding and discharging machines (13) are arranged at the end of the support frame away from the transfer conveying line (14); the feeding and discharging machine (13) is used for providing a material box containing IGBTs; a robot sliding table fixedly connected with the support frame is arranged between the three-axis automatic coating rack (1001) and the feeding and discharging machine (13); the robot sliding table is provided with a six-axis linkage robot with clamping jaws; the robot sliding table is matched with a driving motor for driving the six-axis linkage robot to move horizontally; the end of the support frame close to the transfer conveying line (14) is provided with a centering assembly mechanism (15); the centering assembly mechanism (15) is used for assembling IGBTs and bottom plates and conveying the assembled IGBTs and bottom plates to the transfer conveying line; The centering assembly mechanism (15) comprises a mounting groove arranged on the support frame, a base (151) arranged in the mounting groove, a three-axis cylinder (152) arranged in the middle of the base (151), a U-shaped seat (153) fixedly connected with the output end of the three-axis cylinder (152), a fixed plate (154) fixedly connected with the upper end of the U-shaped seat (153), lower push plates (155) slidably connected with the front and rear ends of the lower side of the fixed plate (154), the two lower push plates (155) being driven by a gas cylinder and a gear and rack bidirectional extension mechanism to relatively approach or move away from each other, three limiting rods (156) fixedly connected with the upper side of each lower push plate (155), a sliding groove being arranged on the fixed plate (154) corresponding to the position of the limiting rod (156) of the lower push plate (155), upper push plates (157) slidably connected with the left and right ends of the upper side of the fixed plate (154), the two upper push plates (157) also being driven by a gas cylinder and a gear and rack bidirectional extension mechanism to relatively approach or move away from each other, the upper push plates (157) also being fixedly connected with limiting rods (156), vertical columns (158) arranged on the fixed plate (154), eyelets arranged on the upper ends of the vertical columns (158), and pen-shaped cylinders (159) arranged on the left and right ends of the base (151) in a vertical manner, the output ends of the pen-shaped cylinders (159) extending out of the fixed plate (154) and being fixedly connected with latches. The inside of the installation groove is provided with a motor-driven roller set (16) corresponding to the position of the transfer conveying line (14), the roller set (16) is used for supporting and conveying the carrier, a three-axis locking rack (17) fixedly connected with the supporting frame is arranged above the roller set (16), a mounting plate is fixedly connected to the free end of the three-axis locking rack (17), the mounting plate is provided with a first misalignment cylinder and a first guide rail, a second misalignment cylinder and a second guide rail, a visual lifting cylinder and a third guide rail, a first sliding table provided with a screw machine is slidably connected to the first guide rail, the telescopic end of the first misalignment cylinder is fixedly connected with the first sliding table, a second sliding table provided with a screw machine is slidably connected to the second guide rail, the telescopic end of the second misalignment cylinder is fixedly connected with the second sliding table, a third sliding table provided with a camera is slidably connected to the third guide rail, the telescopic end of the visual lifting cylinder is fixedly connected with the third sliding table, and each screw machine is matched with a screw feeder, and a vacuum generator matched with the screw machine is further arranged on the mounting plate. The assembly device is also provided with a high-definition vision system, which is used to assist IGBT gluing and assembly.

2. The device according to claim 1, characterized in that: The IGBT positioning mechanism (102) comprises a rotary cylinder (1021), a support (1022) in a U-shaped structure is fixedly connected to the output end of the upper side of the rotary cylinder (1021), a carrier plate (1023) is rotatably connected to the upper end of the support (1022), a turnover cylinder (1024) is arranged on the outer side of the support (1022), the output end of the turnover 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 cylinders (1025) fixedly connected with the carrier plate (1023) are arranged at both ends of the clamping groove, and the two clamping 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.

3. The device according to claim 2, characterized in that: The rubber wiping mechanism (103) comprises a rubber wiping box (1031), a glue collecting box is arranged in the rubber wiping box (1031), two arc grooves (1032) communicating with the glue collecting box are arranged on the upper side of the rubber wiping box (1031), a stepping motor is arranged at the lower part of the inner cavity of the rubber wiping box (1031), a driving turntable (1033) is fixedly connected to the output end of the stepping motor and extends out of the rubber wiping box (1031), a driven turntable (1034) is rotatably connected to one side of the rubber wiping box (1031), a rubber wiping table (1035) and two guide rollers (1036) fixedly connected with the rubber wiping box (1031) are further arranged between the driving turntable (1033) and the driven turntable (1034), a rubber wiping belt (1037) is wound on the driven turntable (1034), and the free end of the rubber wiping belt (1037) is wound on the driving turntable (1033) through the two guide rollers (1036) and the rubber wiping table (1035).

4. The device for gluing and assembling IGBTs for frequency converters according to claim 3, characterized in that: The feeding and discharging machine (13) comprises a material box lifting machine (131) and a profile frame (132) arranged outside the supporting frame, a power roller connecting platform (133) is arranged on the lifting platform of the material box lifting machine (131), the profile frame (132) is provided with an upper conveying line (134) and a lower conveying line (135), the power roller connecting platform (133) is opposite to the upper conveying line (134) when moving to the top, and the power roller connecting platform (133) is opposite to the lower conveying line (135) when moving to the bottom.

5. The device for gluing and assembling IGBTs for frequency converters according to claim 4, characterized in that: The carrier is arranged in a rectangular plate, a through groove is arranged at the position corresponding to the limiting rod (156), a through hole is arranged at the position corresponding to the stand column (158), and a bolt lifting hole is arranged at the position corresponding to the bolt.

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