Pin self-adaptive positioning mechanism, positioning method and IGBT pin inserting machine

Abstract

This invention relates to the field of semiconductor packaging technology, and more particularly to an adaptive positioning mechanism, positioning method, and IGBT pin insertion machine. The mechanism includes: two clamping arms with opposing clamping surfaces each having a mounting groove; a fixing block is fixedly connected to each mounting groove; a clamping block is slidably mounted on the fixing block; at least one of the clamping arms is rotatably mounted; the sliding surface of the rotatably mounted clamping arm where the fixing block and clamping block are in contact is inclined, and the inclined sliding surface gradually converges towards the clamping center in the direction of the fisheye pin insertion end. By introducing a slidable clamping block and an inclined sliding surface design, this invention can adaptively adjust the clamping force application point during the clamping of the fisheye pin's pin end, ensuring that the fisheye pin insertion end maintains its initial positioning throughout the clamping process. This eliminates axial movement allowance, ensures the consistency of the positioning of each fisheye pin, and thus improves the insertion accuracy and product reliability of the IGBT module.

Description

Technical Field

[0001] This invention relates to the field of semiconductor packaging technology, and more particularly to an adaptive positioning mechanism for pin insertion, a positioning method, and an IGBT pin insertion machine. Background Technology

[0002] In the manufacturing process of Insulated Gate Bipolar Transistor (IGBT) modules, the precise insertion of the fisheye pins into the substrate or corresponding interface is a critical step. The fisheye pins are integrally molded with pin ends and insertion ends. During production flow, the fisheye pins are pre-installed in the positioning holes of the conveyor plate with their insertion ends, and the conveyor plate realizes the transfer between workstations.

[0003] In existing technologies, a double-clamping-arm type needle insertion fixture is typically used to perform the needle removal operation. The two clamping arms of this fixture have a scissor-type hinge structure, which achieves clamping by relative rotation and closing. During operation, it clamps the needle foot end of the fisheye needle and transfers it to the insertion station to complete the insertion.

[0004] However, the scissor clamping method involves progressive clamping from the needle tip to the insertion end, with the clamping force application point dynamically changing. Simultaneously, to ensure smooth needle removal, the insertion end of the fisheye needle and the positioning hole of the conveyor plate use a clearance fit, forming only a semi-rigid constraint with axial movement allowance. During clamping, the two clamping arms first lock the needle tip root, and then gradually flatten the bent section of the needle body with the clamping action, causing axial elongation deformation. This deformation is transmitted to the insertion end, forcing the needle body to have an axial positional deviation along the insertion direction, changing the initial positioning of the insertion end, resulting in inconsistent positioning of each fisheye needle, reducing insertion accuracy and product reliability. Summary of the Invention

[0005] This invention provides an adaptive positioning mechanism, a positioning method, and an IGBT pin insertion machine, which can effectively solve the problems in the background art.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows: A pin adaptive positioning mechanism includes a scissor-type clamping mechanism, the scissor-type clamping mechanism includes two clamping arms, each of the clamping surfaces of the two clamping arms facing each other is provided with a mounting groove, a fixing block is fixedly connected in each mounting groove, and a clamping block is slidably mounted on the fixing block; At least one of the two clamping arms is a rotating assembly; On the rotatable clamping arm, the sliding surface where the fixing block and the clamping block are in contact is inclined, and the inclined sliding surface gradually converges towards the clamping center in the direction of the fisheye needle insertion end. In the initial state, the clamping working surface of the clamping block protrudes from the clamping surface of the clamping arm; during the clamping closing process, the clamping block is subjected to clamping reaction force and slides along the inclined sliding surface in a direction away from the fisheye needle insertion end, and when the clamping block slides to the limit position of the stroke, its clamping working surface is coplanar with the clamping surface of the clamping arm.

[0007] Furthermore, one of the clamping arms is vertically fixed, while the other clamping arm is rotatably mounted; The sliding surface of the fixed block and the clamping block on the vertically fixed clamping arm is a vertical plane parallel to its clamping surface; The sliding surface corresponding to the rotating clamping arm is inclined.

[0008] Furthermore, both clamping arms are rotatably mounted; On both clamping arms, the sliding surfaces where the fixing block and the clamping block fit together are both inclined.

[0009] Furthermore, the sliding surfaces of the fixing block and the clamping block are provided with mutually cooperating guide and limiting structures, which are dovetail groove structures or T-groove structures.

[0010] Furthermore, on the rotatable clamping arm, the clamping working surface of the clamping block is provided with a straightening groove.

[0011] Furthermore, the free ends of the two clamping arms are bent and extended toward the clamping surface to form an abutment edge covering the underside of the fixing block.

[0012] Furthermore, an adjusting rod is provided along the abutment along the position corresponding to the clamping block, and the adjusting rod is used to adjust the initial sliding position of the clamping block.

[0013] Furthermore, an elastic element is provided at the end of the clamping block away from the abutment edge; One end of the elastic element extending out of the clamping block abuts against the top wall of the mounting groove, providing an elastic restoring force for the clamping block.

[0014] This application also provides a pin adaptive positioning method, which employs the aforementioned pin adaptive positioning mechanism and includes the following steps: With the two clamping arms in the open position, the clamping working surface of the clamping block protrudes beyond the clamping surface of the corresponding clamping arm, and the fisheye needle is placed in the clamping area between the two clamping arms. The two clamping arms are driven to close and clamp the needle end of the fisheye needle. The clamping block is subjected to the clamping reaction force of the fisheye needle and slides along the sliding surface of the fixed block in a direction away from the insertion end of the fisheye needle. When the clamping block slides to its travel limit position, its clamping working surface is coplanar with the clamping surface of the corresponding clamping arm. The two clamping arms synchronously and rigidly fit together to clamp the fisheye needle, completing the adaptive positioning and clamping of the fisheye needle without axial deformation.

[0015] This application also provides an IGBT pin insertion device, including: Workbench; And a rotating platform that is rotatably mounted on the worktable; And a plurality of pin fixtures arranged at circumferential intervals along the rotating platform; And the self-adaptive positioning mechanism for the inserter, which is provided on the two clamping arms of the inserter fixture.

[0016] The technical solution of this invention can achieve the following technical effects: This invention introduces a sliding clamping block and an inclined sliding surface design, which can adaptively adjust the clamping force application point during the clamping of the fisheye needle pin end, so that the fisheye needle insertion end maintains its initial positioning throughout the clamping process, eliminating axial movement allowance and ensuring the consistency of positioning of each fisheye needle, thereby improving the insertion accuracy and product reliability of IGBT modules. Attached Figure Description

[0017] Figure 1 A first-view structural schematic diagram of the pin adaptive positioning mechanism and a partial enlarged view of point I; Figure 2 A cross-sectional view of the pin adaptive positioning mechanism; Figure 3 for Figure 2 Enlarged view of a portion at point A; Figure 4 A schematic diagram of a structure in which both clamping arms rotate to clamp a fisheye needle; Figure 5 A second-view structural schematic diagram of the pin adaptive positioning mechanism and a partial enlarged view of section II; Figure 6 This is a schematic diagram of the connection structure between the fixing block and the clamping block; Figure 7 This is a schematic diagram of the IGBT pin insertion machine.

[0018] Reference numerals: 1. Clamping arm; 1a. Mounting groove; 1b. Clamping surface; 2. Fixing block; 2a. Sliding surface; 3. Clamping block; 3a. Clamping working surface; 4. Guide limiting structure; 5. Straightening groove; 6. Abutment edge; 7. Adjusting rod; 8. Elastic element; 100. Worktable; 200. Rotating platform; 300. Pin insertion fixture. Detailed Implementation

[0019] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0020] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0021] like Figures 1-6 As shown, this application proposes a pin adaptive positioning mechanism, including a scissor clamping mechanism. The scissor clamping mechanism includes two clamping arms 1. The clamping surfaces 1b of the two clamping arms 1 facing each other are provided with mounting grooves 1a. A fixing block 2 is fixedly connected in each mounting groove 1a. A clamping block 3 is slidably assembled on the fixing block 2. At least one of the two clamping arms 1 is a rotating assembly; On the rotating clamping arm 1, the sliding surface 2a of the fixing block 2 and the clamping block 3 is inclined, and the inclined sliding surface 2a gradually converges towards the clamping center in the direction of the fisheye needle insertion end. In the initial state, the clamping working surface 3a of the clamping block 3 protrudes from the clamping surface 1b of the clamping arm 1. During the clamping closing process, the clamping block 3 is subjected to the clamping reaction force and slides along the inclined sliding surface 2a in a direction away from the fisheye needle insertion end. When the clamping block 3 slides to the limit position of the stroke, its clamping working surface 3a is coplanar with the clamping surface 1b of the clamping arm 1, so as to realize the adaptive positioning clamping of the fisheye needle without axial deformation.

[0022] It should be noted that during the clamping process, the clamping block 3 can slide along a specific path on the fixed block 2. Its clamping working surface 3a directly contacts the object being clamped and adjusts its position according to the force applied. The clamping working surface 3a refers to the surface of the clamping block 3 that directly contacts the fisheye needle and applies clamping force. The clamping center refers to the central area formed between the clamping surfaces 1b of the two clamping arms 1 when they are closed, which is usually the position where the fisheye needle is clamped. The travel limit position refers to the farthest or closest position that the clamping block 3 can reach during the sliding process. At this position, the movement of the clamping block 3 is restricted by the mechanical structure and a preset clamping state is achieved.

[0023] Specifically, each of the two clamping arms 1 has a mounting groove 1a on its opposing clamping surfaces 1b. The mounting groove 1a can be designed as a rectangular groove, a U-shaped groove, or other shapes, and can be directly formed on the clamping surfaces 1b of the clamping arms 1 by machining. The prefabricated fixing block 2 can be firmly installed in the corresponding mounting groove 1a by means of screws, pins, welding, or bonding to ensure that it will not be displaced during clamping. The upper surface of the fixing block 2 can be machined into a flat guide rail surface, and the lower surface of the clamping block 3 is correspondingly machined into a plane that mates with the guide rail surface, so that the clamping block 3 and the fixing block 2 form a sliding fit, allowing the clamping block 3 to slide relatively simply in a straight line on the surface of the fixing block 2.

[0024] On the rotating clamping arm 1, the sliding surface 2a of the fixing block 2 and the clamping block 3, which are in contact with each other, is set to be inclined. This inclined sliding surface 2a gradually converges towards the clamping center in the direction of the fisheye needle insertion end. Specifically, the sliding surface 2a can be a plane that forms an acute angle with the clamping surface 1b of the clamping arm 1. For example, the upper surface of the fixing block 2 can be machined into an inclined surface, and the lower surface of the clamping block 3 is correspondingly machined into an inclined surface that matches the inclined surface, so that when the clamping block 3 slides, its clamping working surface 3a can move along a preset inclined path.

[0025] The specific working process is as follows: In the initial state, when the clamping arm 1 has not been fully closed or has not contacted the fisheye needle, the clamping working surface 3a of the clamping block 3 protrudes from the clamping surface 1b of the clamping arm 1.

[0026] During the clamping and closing process, the clamping block 3 is subjected to clamping reaction force and slides along the inclined sliding surface 2a in a direction away from the fisheye needle insertion end. When the clamping arm 1 closes and contacts the fisheye needle, the fisheye needle generates a reaction force on the clamping block 3. Since the sliding surface 2a is inclined, this reaction force will decompose into a component force along the sliding surface 2a, driving the clamping block 3 to move backward (i.e. away from the fisheye needle insertion end) along the inclined sliding surface 2a. At the same time, the clamping working surface 3a of the protruding clamping block 3 will gradually approach the clamping surface 1b of the clamping arm 1. When the clamping block 3 slides to the limit position of the stroke, its clamping working surface 3a is coplanar with the clamping surface 1b of the clamping arm 1. The travel limit position here can be determined by a mechanical limiting structure. For example, a stop can be set at the end of the fixed block 2. When the clamping block 3 slides to the stop, its movement is stopped. At this time, the clamping working surface 3a of the clamping block 3 is exactly flush with the clamping surface 1b of the clamping arm 1. Thus, in the final stage of clamping, the clamping arm 1 can rigidly clamp the fisheye needle with a flat clamping surface 1b.

[0027] By introducing a sliding clamping block 3 and an inclined sliding surface 2a, this invention can adaptively adjust the clamping force application point during the clamping of the fisheye needle's pin end, so that the fisheye needle insertion end maintains its initial positioning throughout the clamping process, eliminating axial movement allowance and ensuring the consistency of positioning of each fisheye needle, thereby improving the insertion accuracy and product reliability of the IGBT module.

[0028] As a preferred embodiment of the above, one clamping arm 1 is vertically fixed, and the other clamping arm 1 is rotatably fixed; the sliding surface 2a of the fixed block 2 and the clamping block 3 on the vertically fixed clamping arm 1 is a vertical plane parallel to its clamping surface 1b; the sliding surface 2a corresponding to the rotatable clamping arm 1 is inclined.

[0029] Specifically, one clamping arm 1 is rigidly fixed to the main body of the mechanism or the worktable 100, so that it does not rotate or shift during the clamping process, thereby providing a stable and unchanging reference benchmark. This fixing method can be achieved through various means such as bolt fastening, welding, or integral molding, to ensure the accuracy of its position and orientation; the other clamping arm 1 is connected to the main body of the mechanism through a hinge, pivot, or other rotatable connection, so that it can rotate around an axis, thereby realizing the opening and closing action of the clamping mechanism.

[0030] On the vertically fixed clamping arm 1, the sliding surface 2a of the fixing block 2 and the clamping block 3 inside is designed as a vertical plane parallel to the clamping surface 1b of the clamping arm 1. The clamping block 3 can only slide in the vertical direction (i.e., parallel to the clamping surface 1b) on the fixed arm, without any inward or outward tilting movement. This ensures that the clamping working surface 3a on this side remains within the preset vertical plane during clamping, providing a precise positioning reference. On the rotatable clamping arm 1, the sliding surface 2a of the fixing block 2 and the clamping block 3 is designed to be inclined, allowing the clamping block 3 to slide along the inclined surface when subjected to the clamping reaction force of the fisheye needle, thereby achieving adaptive adjustment of the clamping working surface 3a. This inclined setting allows the clamping block 3 to slide away from the insertion end of the fisheye needle during clamping to compensate for the axial deformation or positional deviation of the fisheye needle, ensuring uniform distribution of clamping force.

[0031] Through the above technical solution, one side of the fisheye needle can reliably abut against the clamping working surface 3a of the fixed arm, thereby obtaining a constant reference point during clamping. This effectively avoids the problem of clamping center offset or inaccurate positioning that may occur due to the rotation of both clamping arms 1. At the same time, the other clamping arm 1 maintains its rotating setting and adopts the design of the inclined sliding surface 2a, allowing its clamping block 3 to adaptively slide according to the actual state of the fisheye needle during clamping. This not only compensates for the possible axial deformation of the fisheye needle but also ensures that the clamping force can be applied flexibly to the fisheye needle, avoiding secondary damage that may be caused by rigid clamping. This combination of fixed and rotating elements enables the entire needle adaptive positioning mechanism to provide high-precision positioning while still maintaining flexible adaptive clamping capability for the fisheye needle.

[0032] In another embodiment, both clamping arms 1 are rotatably arranged; on both clamping arms 1, the sliding surfaces 2a where the fixing block 2 and the clamping block 3 are in contact are both inclined.

[0033] Specifically, the two clamping arms 1 can be connected to the main frame through their respective hinge structures, and can be driven to rotate synchronously or asynchronously by independent drive mechanisms (such as cylinders, motors, etc.) or linkage mechanisms. In addition, the two clamping arms 1 can also be connected to the base through rotating shafts, and the other end of the rotating shafts can drive the two clamping arms 1 to rotate synchronously through a common drive source.

[0034] Both clamping arms 1 are rotatable, allowing the clamping action to be performed symmetrically during the closing process. This effectively avoids the clamping force imbalance that may be caused by unilateral rotation, thus significantly improving the stability and reliability of the clamping. Simultaneously, the sliding surfaces 2a of the fixing blocks 2 and clamping blocks 3 on both clamping arms 1 are inclined, allowing the clamping blocks 3 on both sides to slide synchronously and symmetrically along the inclined surfaces under the clamping reaction force. This dual-sided adaptive sliding mechanism can better adapt to the bending shape and size differences of the fisheye needle, ensuring that the clamping force is evenly distributed at the needle tip. This effectively reduces the axial deformation of the fisheye needle during clamping, achieving a uniform clamping force distribution and ensuring the initial positioning accuracy of the fisheye needle insertion end before insertion, thereby improving insertion accuracy and product reliability.

[0035] In a preferred embodiment of the present invention, a cooperating guide and limiting structure 4 is provided at the sliding surface 2a where the fixing block 2 and the clamping block 3 cooperate. The guide and limiting structure 4 guides the sliding direction of the clamping block 3 and limits its displacement range, preventing the clamping block 3 from shifting or dislodging during sliding. The guide and limiting structure 4 may consist of one or more protrusions on the sliding surface 2a of the fixing block 2 and corresponding grooves of matching shape on the sliding surface 2a of the clamping block 3, so that the two achieve guidance and limiting through the movement of the protrusions in the grooves during sliding; or, a guide rail may be provided on the side of the fixing block 2, and a slider cooperating with the guide rail may be provided on the side of the clamping block 3, so that the sliding direction is precisely controlled and laterally limited by the constraint of the slider by the guide rail. Preferably, the guide and limiting structure 4 is a dovetail groove structure or a T-groove structure.

[0036] By setting the guide limiting structure 4, a stable and precise sliding path can be provided for the clamping block 3, effectively avoiding the offset, shaking or dislodgement of the clamping block 3 due to uneven force or excessive gap during the clamping process. This ensures that the clamping block 3 always moves precisely along the preset inclined sliding surface 2a or vertical plane, thereby ensuring that the clamping working surface 3a of the clamping block 3 can accurately transition from the convex state to the travel limit position coplanar with the clamping surface 1b of the clamping arm 1. This allows the clamping force to act evenly and stably on the fisheye needle, significantly improving the clamping accuracy and reliability, and thus ensuring the quality of the insertion operation.

[0037] In this embodiment, preferably, the clamping working surface 3a of the clamping block 3 on the rotatably mounted clamping arm 1 is provided with a straightening groove 5.

[0038] Specifically, the straightening groove 5 can be designed as a V-shaped groove, with its V-shaped opening facing the fisheye needle. When the fisheye needle is clamped, the two inclined surfaces of the V-shaped groove can center and straighten the needle body. Alternatively, the straightening groove 5 can be designed as a U-shaped groove, with its bottom curvature matching the cross-sectional shape of the fisheye needle, thus providing more comprehensive coverage and support to ensure that the fisheye needle remains straight during clamping. When the needle foot of the fisheye needle is clamped, its needle body is guided into the straightening groove 5. The straightening groove 5 applies physical constraint and guidance to the needle body, forcing the needle body to straighten along the shape of the groove, thereby effectively eliminating any bending or residual deformation that may occur during the clamping process. Furthermore, during the sliding process of the clamping block 3, the straightening groove 5 can continuously straighten the fisheye needle until the clamping working surface 3a of the clamping block 3 is coplanar with the clamping surface 1b of the clamping arm 1, thereby achieving rigid clamping of the fisheye needle without axial deformation, which significantly improves the straightening accuracy of the fisheye needle.

[0039] In a preferred embodiment of the present invention, the free ends of the two clamping arms 1 are bent and extended toward the clamping surface 1b to form an abutment edge 6 covering the bottom of the fixing block 2.

[0040] Specifically, the end structure of the clamping arm 1 is designed to bend inward, bringing it closer to the clamping center area. This bending extension can be achieved in several ways. For example, the free end of the clamping arm 1 can be integrally formed into a smooth arc structure, gradually converging towards the clamping center to form a guiding entry point; alternatively, it can be formed into a stepped or L-shaped structure by bending the free end of the clamping arm 1 at one or more angles to provide more precise support and positioning. Furthermore, this bending extension can be integrally formed with the main body of the clamping arm 1 through processes such as injection molding, die casting, or forging to ensure structural strength and precision; it can also be achieved by welding, riveting, or bolting pre-bent components to the free end of the clamping arm 1.

[0041] Through the above technical solution, the abutment edge 6 provides additional mechanical support and limitation for the clamping block 3 and the fixing block 2. When the clamping arm 1 is in the open state, the abutment edge 6 can effectively prevent the clamping block 3 from undergoing undesirable displacement or shaking due to its own weight, inertia, or external vibration, thereby maintaining the initial positioning accuracy and stability of the clamping block 3. This ensures that when the fisheye needle is inserted into the clamping area, the clamping block 3 is always in the preset protruding state, providing a stable starting condition for subsequent adaptive clamping. In addition, during the fisheye needle insertion process, the abutment edge 6 can also serve as a limiting structure for the intermediate step of the fisheye needle. When the fisheye needle is inserted to a predetermined depth, its stepped portion abuts against the abutment edge 6 on the clamping arm 1, thereby precisely controlling the axial insertion depth of the fisheye needle. This avoids the fisheye needle from moving upward or undergoing axial deformation due to uneven force or over-insertion during the insertion process, ensuring the positioning accuracy and insertion reliability of the fisheye needle insertion end, and thus improving the manufacturing quality of the IGBT module.

[0042] As a preferred embodiment of the above embodiment, an adjusting rod 7 is provided at the position corresponding to the clamping block 3 along the abutment edge 6. The adjusting rod 7 is used to adjust the initial sliding position of the clamping block 3. It should be noted that the initial sliding position of the clamping block 3 refers to the starting point of the clamping block 3 in the mounting groove 1a before the clamping mechanism is fully closed and before the clamping block 3 undergoes adaptive sliding due to the reaction force of the fisheye needle.

[0043] By presetting the starting point of clamping block 3, it can be ensured that clamping block 3 can contact the fisheye needle in the best state at the beginning of the clamping operation, and provide a suitable stroke margin for subsequent adaptive sliding, thereby avoiding uneven clamping force or positioning deviation caused by improper initial position.

[0044] Specifically, when the bend at the tip of the fisheye needle is small, the adjusting rod 7 can be used to drive the clamping block 3 away from the abutment edge 6, making the clamping working surface 3a of the clamping block 3 closer to the clamping surface 1b of the clamping arm 1. This ensures that both clamping blocks 3 can quickly reach their travel limit positions to form a stable clamp on the fisheye needle. Conversely, when the bend of the fisheye needle is large, the adjusting rod 7 can be used to drive the clamping block 3 closer to the abutment edge 6, increasing the distance between the clamping working surface 3a of the clamping block 3 and the clamping surface 1b of the clamping arm 1. This provides a larger sliding stroke for the clamping block 3 to fully compensate for larger axial deformation. By adjusting the initial position, the adaptability of the mechanism to fisheye needles of different specifications, shapes, or pre-bending degrees is enhanced.

[0045] The adjusting rod 7 adjusts the initial sliding position of the clamping block 3, allowing the mechanism to flexibly adjust the starting clamping point of the clamping block 3 according to fisheye needles of different sizes, shapes, or degrees of curvature. This adjustability ensures that during the clamping and closing process, the clamping block 3 can always contact the fisheye needle in the best condition and effectively adapt and slide along the inclined sliding surface 2a, thereby accurately compensating for the axial deformation of the fisheye needle.

[0046] As a preferred embodiment of the above embodiment, the clamping block 3 is provided with an elastic element 8 at one end away from the abutment edge 6; the end of the elastic element 8 extending out of the clamping block 3 abuts against the top wall of the mounting groove 1a, and is used to provide an elastic reset force for the clamping block 3.

[0047] After the clamping mechanism completes clamping and releasing the fisheye needle, the clamping block 3 slides along the inclined sliding surface 2a during the clamping process, potentially compressing the elastic element 8. At this point, the elastic potential energy stored in the elastic element 8 is converted into an elastic restoring force. This elastic restoring force, through the end of the elastic element 8 extending from the clamping block 3, abuts against the top wall of the mounting groove 1a, thus stably pushing the clamping block 3 along the inclined sliding surface 2a towards the fisheye needle insertion end, automatically returning it from its travel limit position to its initial protruding state. This automatic restoring mechanism effectively solves the problem of the clamping block 3 failing to promptly return to its initial position after clamping operations, significantly improving the reusability and operational efficiency of the needle adaptive positioning mechanism. Simultaneously, it ensures that the clamping block 3 is in a consistent initial state before each clamping operation, thereby enhancing the stability and reliability of the fisheye needle adaptive positioning and further guaranteeing insertion accuracy and product reliability.

[0048] Preferably, the elastic element 8 can be implemented by a spring plunger, which is fixed to the top of the clamping block 3 by a threaded connection, while the telescopic rod with axial movement inside abuts against the top wall of the mounting groove 1a. In addition, the elastic element 8 can also be implemented by, but is not limited to, a helical compression spring, an elastic rubber block or a gas spring. A through hole or blind hole is provided on the clamping block 3, the internal space of which is used to accommodate a part of the elastic element 8, and the design of the sliding hole should ensure that the elastic element 8 can stably extend and retract inside it, and guide the restoring force of the elastic element 8 to act on the clamping block 3 in a predetermined direction.

[0049] The present invention also provides a pin adaptive positioning method, which employs a pin adaptive positioning mechanism and includes the following steps: Initial positioning: The two clamping arms 1 are in the open state, and the clamping working surface 3a of the clamping block 3 protrudes from the clamping surface 1b of the corresponding clamping arm 1. The fisheye needle is placed in the clamping area between the two clamping arms 1. Adaptive clamping: Drive the two clamping arms 1 to close and clamp the needle end of the fisheye needle. The clamping block 3 is subjected to the clamping reaction force of the fisheye needle and slides along the sliding surface 2a of the fixed block 2 in a direction away from the insertion end of the fisheye needle. During the clamping process, an external driving force causes the two clamping arms 1 to move inward from the open state until they contact and begin to clamp the needle tip of the fisheye needle. The external driving method can include, but is not limited to, pneumatic drive, electric drive (e.g., servo motor with linkage mechanism), hydraulic drive, or cam drive.

[0050] When the clamping arm 1 closes and contacts the fisheye needle, the bent part of the fisheye needle will generate a reaction force acting on the clamping working surface 3a of the clamping block 3. Since the sliding surface 2a of the fixed block 2 and the clamping block 3 is inclined, this reaction force will be decomposed into a component force along the direction of the sliding surface 2a, causing the clamping block 3 to slide along the inclined sliding surface 2a in a direction away from the insertion end of the fisheye needle. This sliding mechanism allows the clamping block 3 to adaptively adjust its position during the clamping process to absorb part of the clamping force and avoid the fisheye needle being subjected to excessive axial pressure in the initial contact stage.

[0051] Rigid fit positioning: When the clamping block 3 slides to the limit position of its stroke, its clamping working surface 3a is coplanar with the clamping surface 1b of the corresponding clamping arm 1. The two clamping arms 1 synchronously and rigidly fit to clamp the fisheye needle, completing the adaptive positioning clamping of the fisheye needle without axial deformation.

[0052] Under the action of the clamping reaction force, the clamping block 3 slides continuously along the inclined sliding surface 2a until it reaches its preset sliding endpoint. At this time, the clamping working surface 3a of the clamping block 3 and the clamping surface 1b of the clamping arm 1 are on the same plane. The entire clamping arm 1, including the clamping block 3, forms a flat clamping surface 1b, thereby applying a uniform and stable clamping force to the fisheye needle and ensuring that the fisheye needle is firmly and deformably fixed in the clamping area.

[0053] The positioning method of this invention utilizes the adaptive sliding mechanism of the clamping block 3. During the closing process of the clamping arm 1, the clamping block 3 can adjust along the inclined sliding surface 2a according to the clamping reaction force of the fisheye needle, effectively absorbing and dispersing the initial clamping force, and avoiding the axial elongation or bending deformation of the fisheye needle caused by the dynamic change of the clamping force application point in traditional clamping methods. When the clamping block 3 slides to the limit position of its stroke and is coplanar with the clamping surface 1b of the clamping arm 1, synchronous rigid contact clamping of the fisheye needle is achieved, ensuring the uniform and stable application of the clamping force. Thus, the insertion end position of the fisheye needle remains stable throughout the clamping process, avoiding axial movement and positioning deviation. This adaptive positioning clamping method significantly improves the insertion accuracy and product reliability of the fisheye needle, and solves the problem of axial deformation of the fisheye needle during the clamping process in the prior art.

[0054] like Figure 7 As shown, the present invention also provides an IGBT pin insertion machine, including: a worktable 100; a rotating platform 200 rotatably disposed on the worktable 100; a plurality of pin insertion fixtures 300 disposed circumferentially spaced along the rotating platform 200; and a pin adaptive positioning mechanism disposed on two clamping arms 1 of the pin insertion fixtures 300.

[0055] The workbench 100 serves as a basic support platform, ensuring the stability and reliability of the entire device and providing a fixed foundation for subsequent components. The rotating platform 200 is rotatably mounted on the workbench 100, enabling the device to rotate and facilitating efficient switching between multiple workstations, thereby improving operational flexibility and production efficiency. Multiple pin insertion fixtures 300 are arranged at circumferential intervals along the rotating platform 200, enabling batch processing capabilities based on the layout of the rotating platform 200. This allows for the simultaneous clamping and insertion of multiple fisheye pins, optimizing the production process.

[0056] By integrating the aforementioned adaptive positioning mechanism of the insert pin onto the clamping arm 1 of the insert pin fixture 300, the position of the clamping block 3 is dynamically adjusted according to the reaction force of the fisheye pin when clamping the pin end, so as to adaptively adjust the point of application of the clamping force, avoid axial elongation deformation, ensure accurate positioning of the insertion end, and achieve the effect of improving insertion accuracy and product reliability.

[0057] Although this application has been described in conjunction with specific features and embodiments, it is obvious that various modifications and combinations can be made thereto without departing from the spirit and scope of this application. Accordingly, this specification and drawings are merely exemplary illustrations of the application as defined herein, and are to be considered as covering any and all modifications, variations, combinations, or equivalents within the scope of this application. Clearly, those skilled in the art can make various alterations and modifications to this application without departing from its scope. Thus, if such modifications and modifications fall within the scope of this application and its equivalents, this application intends to include such modifications and modifications.

Claims

1. A pin adaptive positioning mechanism, comprising a scissor-type clamping mechanism, the scissor-type clamping mechanism including two clamping arms, characterized in that, The clamping surfaces of the two clamping arms facing each other are provided with mounting grooves, and a fixing block is fixedly connected in each mounting groove. A clamping block is slidably mounted on the fixing block. At least one of the two clamping arms is a rotating assembly; On the rotatable clamping arm, the sliding surface where the fixing block and the clamping block are in contact is inclined, and the inclined sliding surface gradually converges towards the clamping center in the direction of the fisheye needle insertion end. In the initial state, the clamping working surface of the clamping block protrudes from the clamping surface of the clamping arm; during the clamping closing process, the clamping block is subjected to clamping reaction force and slides along the inclined sliding surface in a direction away from the fisheye needle insertion end, and when the clamping block slides to the limit position of the stroke, its clamping working surface is coplanar with the clamping surface of the clamping arm.

2. The adaptive positioning mechanism for the insert pin according to claim 1, characterized in that, One of the clamping arms is vertically fixed, while the other clamping arm is rotatably mounted. The sliding surface of the fixed block and the clamping block on the vertically fixed clamping arm is a vertical plane parallel to its clamping surface; The sliding surface corresponding to the rotating clamping arm is inclined.

3. The self-adaptive positioning mechanism for the insert according to claim 1, characterized in that, Both clamping arms are rotatably mounted; On both clamping arms, the sliding surfaces where the fixing block and the clamping block fit together are both inclined.

4. The adaptive positioning mechanism for the insert pin according to claim 1, characterized in that, The sliding surfaces of the fixing block and the clamping block are provided with mutually cooperating guide and limiting structures, which are dovetail groove structures or T-groove structures.

5. The adaptive positioning mechanism for the insert pin according to claim 1, characterized in that, On the rotatable clamping arm, the clamping working surface of the clamping block is provided with a straightening groove.

6. The adaptive positioning mechanism for the insert pin according to claim 1, characterized in that, The free ends of the two clamping arms bend and extend toward the clamping surface, forming an abutment edge that covers the underside of the fixing block.

7. The self-adaptive positioning mechanism for the insert according to claim 6, characterized in that, An adjusting rod is provided along the abutment edge corresponding to the position of the clamping block, and the adjusting rod is used to adjust the initial sliding position of the clamping block.

8. The adaptive positioning mechanism for the insert according to claim 6, characterized in that, The clamping block is provided with an elastic element at one end away from the abutment edge; One end of the elastic element extending out of the clamping block abuts against the top wall of the mounting groove, providing an elastic restoring force for the clamping block.

9. A method for adaptive positioning of a pin, employing the adaptive positioning mechanism for a pin as described in any one of claims 1-8, characterized in that, Includes the following steps: With the two clamping arms in the open position, the clamping working surface of the clamping block protrudes beyond the clamping surface of the corresponding clamping arm, and the fisheye needle is placed in the clamping area between the two clamping arms. The two clamping arms are driven to close and clamp the needle end of the fisheye needle. The clamping block is subjected to the clamping reaction force of the fisheye needle and slides along the sliding surface of the fixed block in a direction away from the insertion end of the fisheye needle. When the clamping block slides to its travel limit position, its clamping working surface is coplanar with the clamping surface of the corresponding clamping arm. The two clamping arms synchronously and rigidly fit together to clamp the fisheye needle, completing the adaptive positioning and clamping of the fisheye needle without axial deformation.

10. An IGBT pin insertion machine, characterized in that, include: Workbench; And a rotating platform that is rotatably mounted on the worktable; And a plurality of pin fixtures arranged at circumferential intervals along the rotating platform; And the pin adaptive positioning mechanism as described in any one of claims 1-8, which is disposed on the two clamping arms of the pin fixture.

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