Automatic dispensing, riveting and assembling equipment for IGBT frame

Abstract

The utility model discloses automatic dispensing, riveting and assembling equipment for an IGBT (Insulated Gate Bipolar Translator) frame. The automatic dispensing, riveting and assembling equipment comprises a rack, and a bottom plate feeding mechanism, a frame feeding mechanism, a transfer robot mechanism, a glue scratching mechanism, a turnover mechanism, a rivet inserting mechanism, a conveying mechanism and a rivet pressing mechanism which are arranged on the rack, the carrying robot mechanism is used for moving a frame in the frame feeding mechanism into the glue scratching mechanism and moving the frame into the overturning mechanism, the bottom plate feeding mechanism moves a bottom plate to the conveying mechanism, the carrying robot mechanism moves the frame to the bottom plate, the rivet inserting mechanism inserts rivets into the frame, and the rivet pressing mechanism conducts pressing fit. According to the technical scheme, the carrying robot places the frame into the feeding station of the glue scratching rotary table, glue is dispensed at the glue scratching station, the carrying robot places the product subjected to glue scratching into the turnover mechanism, the turnover mechanism turns over the frame, the carrying robot attaches the frame to the bottom plate, the frame flows into the rivet inserting station and the press fit station, and the product is subjected to riveting and press fit. Therefore, the automation of the whole process of dispensing, assembling and riveting is realized.

Description

Technical Field

[0001] The utility model relates to the field of assembly equipment, in particular to an IGBT frame automatic glue dispensing and riveting assembly equipment. 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. IGBT needs to be provided with a protective shell with protection on the outside before use. The existing frame equipment can only be glued, riveted, or manually assembled throughout the process. 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 frame automatic dispensing and riveting assembly device, aiming to solve the problem that the existing assembly equipment has no integrated dispensing and riveting to automatically complete the whole process.

[0004] To achieve the above-mentioned purpose, the utility model proposes an IGBT frame automatic dispensing and riveting assembly equipment, including a frame and a base plate feeding mechanism, a frame feeding mechanism, a transport robot mechanism, a glue stripping mechanism, a flipping mechanism, a riveting mechanism, a transmission mechanism and a press riveting mechanism arranged on the frame; the transport robot mechanism is used to move the frame in the frame feeding mechanism to the glue stripping mechanism, and move the frame after the dispensing is completed to the flipping mechanism, the base plate feeding mechanism moves the base plate to the transmission mechanism, the transport robot mechanism moves the flipped frame to the base plate of the transmission mechanism, the riveting mechanism inserts the rivet into the frame, and the press riveting mechanism presses the rivet.

[0005] Preferably, the glue-stripping 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 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 glue stripping 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 glue path 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 frame and the base 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 further comprises 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 riveting position used by the riveting mechanism, and the other blocking code is used to position the riveting position used by the riveting mechanism.

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

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

[0012] Preferably, the riveting mechanism includes a lifting device, a pressing displacement device, a pressing power device and a pressing device; the lifting device is used to lift the frame and leave the conveying mechanism, the pressing displacement device is used to drive the pressing power device to move parallel to the conveying mechanism, and the moving end of the pressing power device drives the pressing device to move toward the lifting device to cooperate in completing the riveting action.

[0013] Preferably, the riveting mechanism comprises a feeding device, a riveting robot and a visual positioning device, the feeding device is used to feed rivets, the riveting robot is used to obtain rivets from the feeding device and place them into the frame, and the visual positioning device is used to assist the riveting robot in positioning and identification.

[0014] In the technical scheme of the utility model, a stack of pallets with frames are manually placed into a frame loading mechanism, a handling robot places the frame into the loading position of the gluing turntable, the gluing station performs gluing, the gluing road is inspected, the handling robot places the glued product into the flipping mechanism, the flipping mechanism flips the frame, a 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 fits the flipped frame to the bottom plate of the conveying mechanism, the bottom plate with the frame attached flows into the riveting station through the conveying mechanism, the feeding device feeds rivets, the riveting robot inserts the rivets into the frame, the riveted product flows into the pressing station, the pressing riveting mechanism presses the rivets, thereby realizing the full process automation of gluing, assembly and pressing riveting, 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 It is a structural schematic diagram of the automatic gluing and riveting assembly equipment for IGBT frame of the utility model.

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

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

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

[0020] Figure 5 The utility model is a schematic diagram of the structure of the riveting mechanism of the automatic glue dispensing riveting assembly equipment for the IGBT frame.

[0021] Figure 6 The utility model is a schematic diagram of the transmission mechanism structure of the automatic gluing and riveting assembly equipment for the IGBT frame.

[0022] Figure 7 This is a schematic diagram of the structure of the riveting mechanism of the automatic glue dispensing and riveting assembly equipment for the IGBT frame of the utility model.

[0023] Description of Figure Numbers:

[0024] 100, rack; 200, bottom plate loading mechanism; 300, frame loading mechanism; 400, handling robot mechanism; 410, four-axis robot; 420, positioning camera; 430, 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, flip gripper; 620, Claw fixing block; 630, clamping power device; 640, flipping power device; 700, riveting mechanism; 710, feeding device; 720, riveting robot; 730, visual positioning device; 800, conveying mechanism; 810, conveying track; 830, pulley; 840, carrier; 850, belt power device; 860, blocking code; 900, riveting mechanism; 910, lifting device; 920, pressing displacement device; 930, pressing power device; 940, pressing device.

[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 automatic gluing and riveting assembly device for an IGBT frame, comprising a frame 100 and a bottom plate feeding mechanism 200, a frame feeding mechanism 300, a transport robot mechanism 400, a glue stripping mechanism 500, a flipping mechanism 600, a riveting mechanism 700, a conveying mechanism 800 and a riveting mechanism 900 arranged on the frame 100; the transport robot mechanism 400 is used to move the frame in the frame feeding mechanism 300 into the gluing mechanism 500, and move the frame after the gluing is completed into the flipping mechanism 600, the bottom plate feeding mechanism 200 moves the bottom plate to the conveying mechanism 800, the transport robot mechanism 400 moves the flipped frame to the bottom plate of the conveying mechanism 800, the riveting mechanism 700 inserts the rivet into the frame, and the riveting mechanism 900 presses the rivet.

[0032] In the technical solution of the utility model, the pallets with frames are stacked and placed in a frame loading mechanism 300 manually, the handling robot mechanism 400 places the frames into the loading position of the glue marking turntable 520, the glue marking station performs glue spotting, the glue marking glue road is inspected, the handling robot mechanism 400 places the glued products into the flipping mechanism 600, the flipping mechanism 600 flips the 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 frame to the bottom plate of the conveying mechanism 800, the bottom plate attached to the frame flows into the riveting station through the conveying mechanism 800, the feeding device 710 feeds rivets, the riveting robot 720 inserts rivets into the frame, the riveted products flow into the pressing station, the pressing riveting mechanism 900 presses the rivets, thereby realizing the integrated automation of gluing, assembly and pressing riveting, with high production efficiency and high qualified rate.

[0033] More specifically, the software used in the equipment of the present invention is used by technicians in this field in practical use of the equipment, such as: 4-axis robots, cameras and 3D detection cameras are all control software commonly used by technicians in this field, or are provided by the manufacturer. It is only necessary to follow the process and equipment connection method without the need for creative ability to complete.

[0034] In another embodiment of the utility model, the glue dispensing mechanism 500 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 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.

[0035] Specifically, the handling robot mechanism 400 puts the frame into the gluing tooling 530 at the loading position of the turntable 520. The turntable 520 rotates to drive the gluing tooling 530 to send the frame to the gluing point of the turntable 520 for gluing. After the gluing is completed, it is inspected at the inspection position of the turntable 520, and the frame is taken away at the taking away position.

[0036] More 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.

[0037] In another embodiment of the present utility model, the glue stripping mechanism 500 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 glue path detection 3D camera 560. The glue path detection 3D camera 560 is used to detect whether the glue path is correct.

[0038] 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.

[0039] 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 frame and the base plate.

[0040] Specifically, the belt drives the carrier 840 to move, and the carrier 840 is provided with a base plate. After the base plate and the frame are assembled, they are sequentially transmitted to the riveting device and the pressing device.

[0041] In another embodiment of the present invention, the carrier 840 includes at least two fixing grooves, and the fixing grooves are used to fix the bottom plate and the side plates.

[0042] 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.

[0043] In another embodiment of the utility model, the conveying mechanism 800 further includes a blocking code 860, which is disposed on the conveying track 810, and is used to block and position the carrier 840. There are at least two blocking codes 860, one of which is used to position the riveting position used by the riveting mechanism 700, and the other of which is used to position the riveting position used by the riveting mechanism 900.

[0044] Specifically, the carrier 840 is detected by the sensor on the blocking code 860, and then the belt power mechanism is stopped, and the transmission of the belt is stopped to achieve the effect of positioning stop.

[0045] 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 mobile end of the flipping power device 640 is connected to the clamping power device 630, the mobile end of the clamping power device 630 is connected to the clamp fixing block 620, and the flipping clamp 610 clamps the frame.

[0046] 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.

[0047] In another embodiment of the present invention, the transport robot mechanism 400 includes a four-axis robot 410 , a positioning camera 420 and a frame electric gripper 430 , and the positioning camera 420 and the frame electric gripper 430 are arranged at the mobile end of the four-axis robot 410 .

[0048] Specifically, the positioning camera 420 performs positioning and identification, and the frame electric gripper 430 grabs the frame.

[0049] In another embodiment of the utility model, the riveting mechanism 900 includes a lifting device 910, a pressing displacement device 920, a pressing power device 930 and a pressing device 940; the lifting device 910 is used to lift the frame and leave the conveying mechanism 800, the pressing displacement device 920 is used to drive the pressing power device 930 to move parallel to the conveying mechanism 800, and the moving end of the pressing power device 930 drives the pressing device 940 to move toward the lifting device 910 to cooperate in completing the riveting action.

[0050] Specifically, an electric cylinder is used as the pressing power, the downward pressure torque and height can be set, the Y direction can be moved, and the number of nails pressed each time (2 or four) can be selected. Through the detection of torque and height, the OK or NG pressing state can be judged.

[0051] In another embodiment of the utility model, the riveting mechanism 700 includes a feeding device 710, a riveting robot 720 and a visual positioning device 730, the feeding device 710 is used to feed rivets, the riveting robot 720 is used to obtain rivets from the feeding device 710 and place them into the frame, and the visual positioning device 730 is used to assist the riveting robot 720 in positioning and identification.

[0052] Specifically, the riveting robot 720 uses the four-axis robot 410 as a carrier, and a mobile end is provided with an adsorption device or a clamping device to clamp or adsorb the rivets.

[0053] 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.

[0054] In another embodiment of the present invention, the industrial robot is a Mitsubishi industrial robot, and the industrial camera is a Basler.

[0055] 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 applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. An IGBT frame automatic glue dispensing riveting assembly equipment, characterized in that: It includes a frame and a base plate loading mechanism, a frame loading mechanism, a transport robot mechanism, a glue stripping mechanism, a flipping mechanism, a riveting mechanism, a conveying mechanism and a press riveting mechanism arranged on the frame; the transport robot mechanism is used to move the frame in the frame loading mechanism to the glue stripping mechanism, and move the 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 transport robot mechanism moves the flipped frame to the base plate of the conveying mechanism, the riveting mechanism inserts the rivet into the frame, and the press riveting mechanism presses the rivet.

2. The IGBT frame automatic glue dispensing and riveting assembly equipment according to claim 1, characterized in that: The glue-stripping mechanism includes a glue-coating robot, a glue-controlling device, a turntable, and a glue-coating tool; the glue-coating tool is used to fix the 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-controlling device is connected to the glue nozzle.

3. The IGBT frame automatic glue dispensing and riveting assembly equipment according to claim 2, characterized in that: The glue stripping 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 glue path detection 3D camera. The glue path detection 3D camera is used to detect whether the glue path is correct.

4. The IGBT frame automatic glue dispensing and riveting assembly equipment according to claim 1, 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 frame and the base plate.

5. The IGBT frame automatic glue dispensing and riveting assembly equipment according to claim 4, 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 frame automatic glue dispensing and riveting assembly equipment according to claim 4, 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 riveting position used by the riveting mechanism, and the other blocking code is used to position the riveting position used by the riveting mechanism.

7. The IGBT frame automatic glue dispensing and riveting assembly equipment according to claim 1, 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 frame.

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

9. The IGBT frame automatic glue dispensing and riveting assembly equipment according to any one of claims 1 to 8, characterized in that: The riveting mechanism includes a lifting device, a pressing displacement device, a pressing power device and a pressing device; the lifting device is used to lift the frame and leave the conveying mechanism, the pressing displacement device is used to drive the pressing power device to move parallel to the conveying mechanism, and the moving end of the pressing power device drives the pressing device to move toward the lifting device to cooperate in completing the riveting action.

10. The IGBT frame automatic glue dispensing and riveting assembly equipment according to claim 9, characterized in that: The riveting mechanism includes a feeding device, a riveting robot and a visual positioning device. The feeding device is used to feed rivets, the riveting robot is used to obtain rivets from the feeding device and place them into the frame, and the visual positioning device is used to assist the riveting robot in positioning and identification.

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