Automatic dispensing and screw locking assembly equipment for IGBT side frame

Abstract

The utility model discloses automatic dispensing and screw locking assembly equipment for an IGBT side frame. The automatic dispensing and screw locking assembly equipment comprises a rack, a bottom plate feeding mechanism, a side frame feeding mechanism, a carrying robot mechanism, a dispensing mechanism, a turnover mechanism, a locking and attaching mechanism and a conveying mechanism, wherein the bottom plate feeding mechanism, the side frame feeding mechanism, the carrying robot mechanism, the dispensing mechanism, the turnover mechanism, the locking and attaching mechanism and the conveying mechanism are arranged on the rack. The carrying robot mechanism is used for moving a side frame into the dispensing mechanism and moving the side frame into the turnover mechanism, the bottom plate feeding mechanism moves a bottom plate onto the conveying mechanism, the carrying robot mechanism moves the side frame onto the bottom plate, and the locking mechanism screws a screw onto the side frame. According to the technical scheme, the carrying robot mechanism puts the side frame into the feeding position of the glue scratching rotary disc, glue is dispensed at the glue scratching station, the carrying robot mechanism puts the product subjected to glue scratching into the turnover mechanism, the turnover mechanism turns over the side frame, the carrying robot mechanism attaches the turned side frame to the bottom plate, and the side frame flows into the locking station for screw locking. Therefore, the integrated automatic whole process of dispensing, assembling and screw locking is achieved, the production efficiency is high, and the percent of pass is high.

Description

Technical Field

[0001] The utility model relates to the field of assembly equipment, in particular to an IGBT side frame automatic glue-dispensing and screw-locking assembly device. Background Art

[0002] IGBT (Insulated Gate Bipolar Transistor), insulated gate bipolar transistor, is a composite fully controlled voltage-driven power semiconductor device composed of BJT (bipolar junction transistor) and MOS (insulated gate field effect transistor). It has the advantages of high input impedance of MOSFET and low on-state voltage drop of GTR, with small driving power and low saturation voltage drop. Before using IGBT, a protective shell with protection on the left and right sides needs to be set on the outside. The existing side frame equipment can only be glued, locked, or manually assembled. There is no integrated assembly equipment to complete the whole process, which has the problems of low efficiency and low pass rate. Utility Model Content

[0003] The main purpose of the utility model is to provide an IGBT side frame automatic glue dispensing and screw locking assembly device, aiming to solve the problem that the existing assembly device has no integrated glue dispensing and screw locking to automatically complete the whole process.

[0004] To achieve the above-mentioned purpose, the utility model proposes an IGBT side frame automatic glue dispensing and screw locking assembly equipment, including a frame and a base plate loading mechanism, a side frame feeding mechanism, a handling robot mechanism, a glue dispensing mechanism, a flipping mechanism, a locking mechanism and a conveying mechanism arranged on the frame; the handling robot mechanism is used to move the side frame in the side frame feeding mechanism to the glue dispensing mechanism, and move the side frame after the glue dispensing is completed to the flipping mechanism, the base plate loading mechanism moves the base plate to the conveying mechanism, the handling robot mechanism moves the flipped side frame to the base plate of the conveying mechanism for cooperation, and the locking mechanism screws the screws onto the side frame.

[0005] Preferably, the glue dispensing mechanism includes a glue coating robot, a glue control device, a turntable, and a glue coating tool; the glue coating tool is used to fix the side frame, the glue coating tool is arranged on the turntable, a glue nozzle and a glue dispensing camera are arranged at the end of the glue coating robot, and the glue control device is connected to the glue nozzle.

[0006] Preferably, the dispensing mechanism further includes a glue path detection 3D camera and a detection robot, the detection robot is arranged on the frame, the mobile end of the detection robot is connected to the detection 3D camera, and the glue path detection 3D camera is used to detect whether the glue path is correct.

[0007] Preferably, the transmission mechanism includes a conveying track, a belt, a pulley, a carrier and a belt power device, two conveying tracks are arranged in parallel, a plurality of pulleys are arranged on the conveying track, the belt is arranged on the outside of the pulley, the belt power mechanism drives the pulley to rotate, the carrier is arranged on the belt, and the carrier is used to fix the side frame and the bottom plate.

[0008] Preferably, the carrier comprises at least two fixing grooves, and the fixing grooves are used to fix the bottom plate and the side plates.

[0009] Preferably, the conveying mechanism also includes a blocking code, which is arranged on the conveying track and is used to block and position the carrier. There are at least two blocking codes, one of which is used to locate the locking position used by the locking mechanism, and the other blocking code is used to locate the assembly position of the side frame and the bottom plate.

[0010] Preferably, the flipping mechanism includes a flipping clamp, a clamp fixing block, a clamping power device and a flipping power device, the movable end of the flipping power device is connected to the clamping power device, the movable end of the clamping power device is connected to the clamp fixing block, and the flipping clamp clamps the side frame.

[0011] Preferably, the transport robot mechanism comprises a four-axis robot, a positioning camera and a side frame electric gripper, and the positioning camera and the side frame electric gripper are arranged at the moving end of the four-axis robot.

[0012] Preferably, the locking mechanism includes a feeding device, a locking robot and a visual positioning device, the feeding device is used to feed screws, the locking robot is used to obtain the screws from the feeding device and place them into the side frame, and the visual positioning device is used to assist the locking robot in positioning and identification.

[0013] Preferably, the locking mechanism includes a feeding device, a locking robot and a visual positioning device, the feeding device is used to feed screws, the locking robot includes a four-axis robot, the mobile end of the four-axis robot is provided with a visual positioning device, a clamping device and an electric screwdriver, and the visual positioning device is used to assist the locking robot in positioning and identification.

[0014] In the technical scheme of the utility model, the whole stack of pallets with side frames are manually placed into the side frame loading mechanism, the handling robot mechanism places the side frames into the gluing turntable loading position, the gluing station performs gluing, the gluing glue road is inspected, the handling robot mechanism places the glued products into the flipping mechanism, the flipping mechanism flips the side frames, the bottom plate pallet is manually placed into the bottom plate loading mechanism, the bottom plate loading mechanism places the bottom plate into the carrier of the conveying mechanism, the handling robot mechanism fits the flipped side frames to the bottom plate of the conveying mechanism, the bottom plate with the side frames attached flows into the locking station through the conveying mechanism, the feeding device feeds the screws, and the locking mechanism inserts the screws into the side frames and locks them, thereby realizing the integrated and automated process of gluing, assembling and screw locking, with high production efficiency and high qualified rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0016] Figure 1 This is a structural schematic diagram of the automatic glue-dispensing and screw-locking assembly equipment for the IGBT side frame of the utility model.

[0017] Figure 2 This is a schematic diagram of the flipping mechanism and handling robot structure of the IGBT side frame automatic glue dispensing and screw locking assembly equipment of the utility model.

[0018] Figure 3 The utility model is a schematic diagram of the structure of the glue dispensing mechanism of the automatic glue dispensing and screw locking assembly equipment for the IGBT side frame.

[0019] Figure 4 This is a schematic diagram of the structure of the detection robot of the IGBT side frame automatic glue dispensing and screw locking assembly equipment of the utility model.

[0020] Figure 5 This is a schematic diagram of the structure of the riveting mechanism of the automatic glue-dispensing and screw-locking assembly equipment for the IGBT side frame of the utility model.

[0021] Figure 6 The utility model is a schematic diagram of the structure of the transmission mechanism of the automatic glue dispensing and screw locking assembly equipment for the IGBT side frame.

[0022] Figure 7 This is a schematic diagram of the locking mechanism structure (2) of the automatic glue-dispensing and screw-locking assembly equipment for the IGBT side frame of the utility model.

[0023] Description of Figure Numbers:

[0024] 100, rack; 200, bottom plate loading mechanism; 300, side frame loading mechanism; 400, handling robot mechanism; 410, four-axis robot; 420, positioning camera; 430, side frame electric gripper; 500, glue stripping mechanism; 510, glue coating robot; 520, turntable; 530, glue coating tooling; 540, glue nozzle; 550, glue dispensing camera; 560, glue path detection 3D camera; 570, detection robot; 600, flip Mechanism; 610, flipping clamp; 620, clamp fixing block; 630, clamping power device; 640, flipping power device; 700, riveting mechanism; 710, feeding device; 720, locking robot; 730, visual positioning device; 740, clamping device; 750, electric screwdriver; 800, transmission mechanism; 810, conveying track; 830, pulley; 840, carrier; 850, belt power device; 860, blocking code.

[0025] The realization of the purpose, functional features and advantages of the utility model will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0027] It should be noted that all directional indications (such as up, down, left, right, front, back...) in the embodiments of the present invention are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0028] In addition, in the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0029] In the present invention, unless otherwise clearly specified and limited, the terms "connection", "fixation", etc. should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0030] In addition, the technical solutions between the various embodiments of the present invention can be combined with each other, but it must be based on the fact that ordinary technicians in the field can implement it. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0031] Please refer to Figure 1-Figure 7 The utility model proposes an IGBT side frame automatic glue dispensing and screw locking assembly device, including a frame 100 and a bottom plate feeding mechanism 200, a side frame feeding mechanism 300, a handling robot mechanism 400, a glue dispensing mechanism, a flipping mechanism 600, a locking mechanism and a conveying mechanism 800 arranged on the frame 100; the handling robot mechanism 400 is used to move the side frame in the side frame feeding mechanism 300 into the glue dispensing mechanism, and move the side frame after the glue dispensing is completed into the flipping mechanism 600, the bottom plate feeding mechanism 200 moves the bottom plate to the conveying mechanism 800, the handling robot mechanism 400 moves the flipped side frame to the bottom plate of the conveying mechanism 800 for cooperation, and the locking mechanism screws the screws onto the side frame.

[0032] In the technical solution of the utility model, the pallets with side frames are manually stacked and placed into the side frame loading mechanism 300, the handling robot mechanism 400 places the side frames into the loading position of the gluing turntable 520, the gluing station performs gluing, the gluing glue path is inspected, the handling robot mechanism 400 places the glued products into the flipping mechanism 600, the flipping mechanism 600 flips the side frames, the bottom plate pallet is manually placed into the bottom plate loading mechanism 200, the bottom plate loading mechanism 200 places the bottom plate into the carrier 840 of the conveying mechanism 800, the handling robot mechanism 400 attaches the flipped side frames to the bottom plate of the conveying mechanism 800, the bottom plate with the side frames attached flows into the locking station through the conveying mechanism 800, the feeding device 710 feeds screws, and the locking mechanism inserts the screws into the side frames and locks them, thereby realizing the integrated and automated process of gluing, assembly and screw locking, with high production efficiency and high qualified rate.

[0033] In another embodiment of the utility model, the glue dispensing mechanism includes a glue coating robot 510, a glue control device, a turntable 520, and a glue coating tool 530; the glue coating tool 530 is used to fix the side frame, the glue coating tool 530 is arranged on the turntable 520, and a glue nozzle 540 and a glue dispensing camera 550 are arranged at the end of the glue coating robot 510, and the glue control device is connected to the glue nozzle 540.

[0034] Specifically, three glue coating tools 530 are evenly distributed on the turntable 520 along the circumferential direction of the axis of the turntable 520, and the glue stripping mechanism 500, the transport robot mechanism 400 and the detection robot 570 correspond to three positions respectively.

[0035] In another embodiment of the utility model, the dispensing mechanism also includes a glue path detection 3D camera 560 and a detection robot 570. The detection robot 570 is arranged on the frame 100. The mobile end of the detection robot 570 is connected to the detection 3D camera. The glue path detection 3D camera 560 is used to detect whether the glue path is correct.

[0036] Specifically, the glue road detection 3D camera 560 is driven by the detection robot 570 to detect the glue road along the glue drawing route.

[0037] In another embodiment of the utility model, the transmission mechanism 800 includes a conveying track 810, a belt, a pulley 830, a carrier 840 and a belt power device 850, wherein two conveying tracks 810 are arranged in parallel, and a plurality of pulleys 830 are arranged on the conveying track 810, the belt is arranged on the outside of the pulley 830, the belt power mechanism drives the pulley 830 to rotate, and the carrier 840 is arranged on the belt, and the carrier 840 is used to fix the side frame and the bottom plate.

[0038] Specifically, the belt drives the carrier 840 to move, and the carrier 840 is provided with a bottom plate. After the bottom plate and the side frame are assembled, they are sequentially transmitted to the riveting device and the pressure riveting device. In another embodiment of the utility model, the carrier 840 includes at least two fixing grooves, and the fixing grooves are used to fix the bottom plate and the side plate.

[0039] In another embodiment of the present invention, the carrier 840 includes three fixing grooves, and the riveting time and gluing time of the three fixing grooves have a high overlap. When the equipment is running as a whole, the number of assemblies per hour is the largest.

[0040] In another embodiment of the utility model, the conveying mechanism 800 also includes a blocking code 860, which is arranged on the conveying track 810, and the blocking code 860 is used to block and position the carrier 840. There are at least two blocking codes 860, one of which is used to locate the locking position used by the locking mechanism, and the other blocking code 860 is used to locate the assembly position of the side frame and the bottom plate.

[0041] Specifically, the position of the carrier 840 is detected by the sensor on the blocking code 860, and then the belt power mechanism is stopped to stop the transmission of the belt, thereby achieving the effect of positioning stop.

[0042] In another embodiment of the utility model, the flipping mechanism 600 includes a flipping clamp 610, a clamp fixing block 620, a clamping power device 630 and a flipping power device 640, the moving end of the flipping power device 640 is connected to the clamping power device 630, the moving end of the clamping power device 630 is connected to the clamp fixing block 620, and the flipping clamp 610 clamps the side frame.

[0043] Specifically, the clamping power device 630 is a cylinder or an electric push rod, and the flipping power device 640 is a flipping motor or a flipping cylinder.

[0044] In another embodiment of the present invention, the transport robot mechanism 400 includes a four-axis robot 410 , a positioning camera 420 and a side frame electric gripper 430 , and the positioning camera 420 and the side frame electric gripper 430 are arranged at the mobile end of the four-axis robot 410 .

[0045] Specifically, the positioning camera 420 performs positioning and identification, and the side frame electric gripper 430 grabs the side frame.

[0046] In another embodiment of the utility model, the locking mechanism includes a feeding device 710, a locking robot 720 and a visual positioning device 730, the feeding device 710 is used to feed screws, the locking robot 720 is used to obtain the screws from the feeding device 710 and place them on the side frame, and the visual positioning device 730 is used to assist the locking robot 720 in positioning and identification.

[0047] Specifically, the locking robot 720 includes a four-axis robot 410 and a locking device. The mobile end of the four-axis robot 410 is provided with a visual positioning device 730 and a locking device. The locking device includes an adsorption end, a rotating rod and a rotating device. One end of the rotating rod is connected to the adsorption end, and the other end of the rotating rod is connected to the rotating device. The adsorption end adsorbs the screw through electromagnetic adsorption or airflow, and the rotating device drives the rotating rod to rotate to rotate the screw for locking.

[0048] In another embodiment of the utility model, the locking mechanism includes a feeding device 710, a locking robot 720 and a visual positioning device 730, the feeding device 710 is used to feed screws, the locking robot 720 includes a four-axis robot 410, and the mobile end of the four-axis robot 410 is provided with a visual positioning device 730, a clamping device 740 and an electric screwdriver 750, and the visual positioning device 730 is used to assist the locking robot 720 in positioning and identification.

[0049] Specifically, after the clamping device 740 clamps the screw to a specified position, it is fixed by the electric screwdriver 750.

[0050] More specifically, the feeding device 710 and the four-axis robot 410 are existing equipment, and the visual positioning device 730 and its algorithm are existing equipment. It only needs to provide multiple pictures for learning and fine-tuning to achieve the corresponding positioning effect of this equipment.

[0051] The above are only preferred embodiments of the present invention, and do not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the concept of the present invention, or directly / indirectly used in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. An IGBT side frame automatic glue dispensing and screw locking assembly equipment, It is characterized in that It includes a frame and a bottom plate loading mechanism, a side frame loading mechanism, a handling robot mechanism, a gluing mechanism, a flipping mechanism, a locking mechanism and a conveying mechanism arranged on the frame; the handling robot mechanism is used to move the side frame in the side frame loading mechanism into the gluing mechanism, and move the side frame after gluing into the flipping mechanism, the bottom plate loading mechanism moves the bottom plate onto the conveying mechanism, the handling robot mechanism moves the flipped side frame to cooperate with the bottom plate of the conveying mechanism, and the locking mechanism screws the screws onto the side frame.

2. The IGBT side frame automatic glue dispensing and screw locking assembly equipment according to claim 1, It is characterized in that The glue dispensing mechanism includes a glue coating robot, a glue control device, a turntable, and a glue coating tool; the glue coating tool is used to fix the side frame, the glue coating tool is arranged on the turntable, a glue nozzle and a glue dispensing camera are arranged at the end of the glue coating robot, and the glue control device is connected to the glue nozzle.

3. The IGBT side frame automatic glue dispensing and screw locking assembly equipment as claimed in claim 2, It is characterized in that The dispensing mechanism also includes a glue path detection 3D camera and a detection robot. The detection robot is arranged on the frame. The mobile end of the detection robot is connected to the detection 3D camera. The glue path detection 3D camera is used to detect whether the glue path is correct.

4. The IGBT side frame automatic glue dispensing and screw locking assembly equipment according to claim 1, It is characterized in that The transmission mechanism includes a conveying track, a belt, a pulley, a carrier and a belt power device. Two conveying tracks are arranged in parallel. A plurality of pulleys are arranged on the conveying track. The belt is arranged on the outside of the pulley. The belt power mechanism drives the pulley to rotate. The carrier is arranged on the belt. The carrier is used to fix the side frame and the bottom plate.

5. The IGBT side frame automatic glue dispensing and screw locking assembly equipment as claimed in claim 4, It is characterized in that The carrier includes at least two fixing grooves, and the fixing grooves are used to fix the bottom plate and the side plates.

6. The IGBT side frame automatic glue dispensing and screw locking assembly equipment as claimed in claim 4, It is characterized in that The conveying mechanism also includes a blocking code, which is arranged on the conveying track and is used to block and position the carrier. There are at least two blocking codes, one of which is used to position the locking position used by the locking mechanism, and the other blocking code is used to position the assembly position of the side frame and the bottom plate.

7. The IGBT side frame automatic glue dispensing and screw locking assembly equipment according to claim 1, It is characterized in that The flipping mechanism includes a flipping clamp, a clamp fixing block, a clamping power device and a flipping power device. The moving end of the flipping power device is connected to the clamping power device. The moving end of the clamping power device is connected to the clamp fixing block. The flipping clamp clamps the side frame.

8. The IGBT side frame automatic glue dispensing and screw locking assembly equipment according to claim 1, It is characterized in that The transport robot mechanism includes a four-axis robot, a positioning camera and a side frame electric gripper, and the positioning camera and the side frame electric gripper are arranged on the moving end of the four-axis robot.

9. The IGBT side frame automatic glue dispensing and screw locking assembly equipment as described in any one of claims 1 to 8, It is characterized in that The locking mechanism includes a feeding device, a locking robot and a visual positioning device. The feeding device is used to feed screws, the locking robot is used to obtain the screws from the feeding device and place them on the side frame, and the visual positioning device is used to assist the locking robot in positioning and identification.

10. The IGBT side frame automatic glue dispensing and screw locking assembly equipment as described in any one of claims 1 to 8, It is characterized in that The locking mechanism includes a feeding device, a locking robot and a visual positioning device. The feeding device is used to feed screws. The locking robot includes a four-axis robot. The mobile end of the four-axis robot is provided with a visual positioning device, a clamping device and an electric screwdriver. The visual positioning device is used to assist the locking robot in positioning and identification.

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