Full-automatic PIN needle setting equipment

Abstract

The utility model discloses a full-automatic PI N needle setting device which comprises a machine box, a first conveying line, a material moving device, a third conveying line and a needle setting assembly, the first conveying line, the material moving device, the third conveying line and the needle setting assembly are arranged on the machine box, and the needle setting assembly is used for conducting needle setting detection on PI N needles on an I-GBT module conveyed by the first conveying line. And the material moving device is used for moving the I-GBT modules which are detected to be unqualified from the conveying line I to the conveying line III. The full-automatic PI N needle setting equipment has the beneficial effects that the full-automatic PI N needle setting equipment can replace manual work to complete the PI N needle setting action, the axial force sensor is used for detecting and judging whether the PI N needles are welded firmly or not in the needle setting process, corresponding detection data are generated for each PI N needle for rechecking, binding of a test result and the PI N needles is achieved, and the test efficiency is improved. The trouble of manually recording detection data is saved, the detection precision is high, the problem of influence of subjective operation differences of people is avoided, the quality inspection quality is good, the inspection speed is high, the efficiency is high, and the inspection accuracy is high.

Description

Technical Field

[0001] The utility model relates to the field of IGBT, in particular to a fully automatic PIN needle shifting device. Background Art

[0002] IGBT (Insulated Gate Bipolar Transistor) is a fully controlled, voltage-driven power semiconductor device composed of a BJT (bipolar junction transistor) and a MOS (insulated gate field-effect transistor). It combines the advantages of a MOSFET's high input impedance and a GTR's low on-state voltage drop. A GTR has a low saturation voltage drop and high current density, but also offers high drive currents. A MOSFET offers low drive power and fast switching speeds, but also a high on-state voltage drop and low current density. The IGBT combines the advantages of both devices, offering low drive power and low saturation voltage drop. It is ideally suited for applications in power conversion systems with DC voltages of 600V and above, such as AC motors, inverters, switching power supplies, lighting circuits, and traction drives.

[0003] The IGBT module is a modular semiconductor product consisting of an IGBT (insulated gate bipolar transistor chip) and a FWD (diode chip) packaged through a specific circuit bridge. The packaged IGBT module is directly used in inverters, UPS uninterruptible power supplies and other equipment.

[0004] The PIN pin is a metal material used to complete the conduction (transmission) of electricity (signals) in the IGBT module.

[0005] With the rapid advancement of automation equipment, customers are placing increasingly high demands on equipment, demanding both multi-functionality and a compact footprint. This is also true for IGBT modules. Currently, the pins of IGBT modules are fixed to the circuit board using soldering and other methods. The reliability of these pins is crucial to the quality of the IGBT module, so post-soldering quality inspection is required to detect any loosely soldered pins.

[0006] Existing quality inspection solutions mostly rely on manual inspection, whereby the PIN pins are moved by human fingers to see if they shake, thereby determining whether the pins are firmly soldered. This quality inspection method is slow and inefficient, and the quality inspection results are greatly affected by human subjective operation differences, which may lead to misjudgment and low quality inspection quality. Utility Model Content

[0007] The main purpose of the utility model is to provide a fully automatic PIN needle picking device, aiming to solve the problems existing in the current manual quality inspection of PIN needles.

[0008] In order to solve the above problems, the utility model proposes a fully automatic PIN pin shifting device, including a chassis and a conveyor line 1, a material transfer device, a conveyor line 3, and a pin shifting assembly arranged on the chassis. The pin shifting assembly is used to perform pin shifting detection on the PIN pins on the IGBT module conveyed by the conveyor line 1, and the material transfer device is used to transfer the IGBT module that fails the pin shifting detection from the conveyor line 1 to the conveyor line 3.

[0009] In one embodiment, the material moving device includes a three-axis translation mechanism 1 and an automatic clamp connected to the three-axis translation mechanism 1, the automatic clamp can clamp the IGBT module, and the three-axis translation mechanism 1 is installed on the chassis.

[0010] In one embodiment, a fully automatic PIN pin shifting device also includes a conveyor line 2 and a visual inspection device installed on the chassis, the visual inspection device and the pin shifting assembly are located next to the conveyor line 2, the material transfer device is used to transfer the IGBT module from the conveyor line 1 to the conveyor line 2, the conveyor line 2 is used to drive the IGBT module to pass through the visual inspection device and the pin shifting assembly in turn to undergo visual inspection by the visual inspection device and pin shifting inspection by the pin shifting assembly, the material transfer device is also used to transfer the IGBT module that fails the pin shifting inspection from the conveyor line 2 to the conveyor line 3, and to transfer the IGBT module that passes the pin shifting inspection from the conveyor line 2 to the conveyor line 1.

[0011] In one embodiment, the needle setting assembly includes:

[0012] Three-axis translation mechanism 2, fixedly connected to the chassis;

[0013] The second transverse moving device is connected to the second three-axis translation mechanism, and drives the second transverse moving device to move along the XYZ three axes through the second three-axis translation mechanism;

[0014] The axial force sensor is connected to the second transverse movement device, and the second transverse movement device drives the axial force sensor to move horizontally;

[0015] The pin-shifting piece is connected to the axial force sensor, and the pin-shifting piece can be inserted and sleeved on the PIN needle when it descends.

[0016] In one embodiment, a lifting device 1 connected to the chassis and an in-place detection device are provided next to the conveyor line. A stop block is provided at the upper end of the lifting device 1, and the stop block rises to stop the IGBT module on the conveyor line 1. The in-place detection device is used to detect the position of the IGBT module on the conveyor line 1.

[0017] In one embodiment, a lifting device 2 and a transverse moving device 1 connected to the chassis are provided beside the conveyor line. A lifting plate is provided at the upper end of the lifting device 2. When the lifting plate rises, the IGBT module can be lifted and separated from the conveyor line 1.

[0018] The first transverse moving device is connected to a support plate. Driven by the first transverse moving device, the support plate moves laterally toward the first conveyor line and moves to the position directly below the IGBT module. During the process of the lifting plate descending and resetting, the IGBT module is placed on the support plate.

[0019] The support plate is located above the conveyor line 1, and the remaining IGBT modules on the conveyor line 1 can pass under the support plate.

[0020] In one embodiment, a carrier jig is provided on the second conveyor line, and the carrier jig is used to place the IGBT module.

[0021] Beneficial effect: The fully automatic PIN pin shifting device of the present application can replace manual work to complete the PIN pin shifting action, and use the axial force sensor to detect and judge whether the PIN pin welding is reliable during the pin shifting process, and generate corresponding test data for each PIN pin for review, thereby realizing the binding of test results and PIN pins, eliminating the trouble of manual recording of test data, with high detection accuracy, and no problem of being affected by human subjective operation differences. The quality inspection quality is excellent, the inspection speed is fast, the efficiency is high, and the inspection accuracy is high. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0023] Figure 1 This is a structural diagram of a fully automatic PIN needle setting device of the utility model;

[0024] Figure 2 yes Figure 1 After removing the hood Figure 1 ;

[0025] Figure 3 yes Figure 1 After removing the hood Figure 2 ;

[0026] Figure 4 yes Figure 1 After removing the hood Figure 3 ;

[0027] Figure 5 This is the structural diagram of conveyor line 2;

[0028] Figure 6 It is a structural diagram of a visual inspection device;

[0029] Figure 7 It is a structural diagram of the needle setting component.

[0030] The following are the descriptions of the reference numerals:

[0031] 1. Machine cover; 2. Machine chassis; 3. Conveyor line 1; 4. Lifting device 1; 5. Stop block; 6. Lifting device 2; 7. Guide column; 8. Lifting plate; 9. Mounting frame; 10. Transverse movement device 1; 11. Support plate; 12. In-position detection device; 13. Pallet; 14. IGBT module; 15. Three-axis translation mechanism 1; 16. Automatic gripper; 17. Conveyor line 2; 18. Loading fixture; 19. Visual inspection device; 20. Three-axis translation mechanism 2; 21. Transverse movement device 2; 22. Axial force sensor; 23. Needle shifter; 24. Conveyor line 3. DETAILED DESCRIPTION

[0032] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0033] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications 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 indications will also change accordingly.

[0034] In this utility model, unless otherwise specified or limited, the terms "connection" and "fixation" should be understood in a broad sense. For example, "fixation" can mean fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. For those skilled in the art, the specific meanings of the above terms in this utility model can be understood according to specific circumstances.

[0035] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of such features. In addition, the meaning of "and / or" appearing throughout the text includes three parallel schemes. Taking "A and / or B" as an example, it includes scheme A, or scheme B, or a scheme in which A and B are satisfied at the same time. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is mutually contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0036] The utility model proposes a fully automatic PIN needle shifting device, which can replace manual work to complete the PIN needle shifting action, and uses the axial force sensor 22 to detect and judge whether the PIN needle welding is reliable during the needle shifting process, and generates corresponding detection data for each PIN needle for review, thereby realizing the binding of test results and PIN needles, eliminating the trouble of manual recording of detection data, and having high detection accuracy, without the problem of being affected by human subjective operation differences, and having excellent quality inspection quality, fast inspection speed, high efficiency and high inspection accuracy.

[0037] Specifically, in one embodiment of the utility model, as Figure 1 As shown, the fully automatic PIN needle shifting equipment includes a chassis 2 and a hood 1 arranged at the upper end of the chassis 2, and the upper surface of the chassis 2 is equipped with a conveyor line 3, a material moving device, a conveyor line three 24, a needle shifting assembly, a conveyor line two 17, a visual inspection device 19, a lifting device 14, an in-place detection device 12, a lifting device two 6, and a transverse movement device 10. The conveyor line 3, the material moving device, the conveyor line three 24, the needle shifting assembly, the conveyor line two 17, the visual inspection device 19, the lifting device 14, the in-place detection device 12, the lifting device two 6, and the transverse movement device 10 are all located on the inner side of the hood 1.

[0038] In this embodiment, if Figure 2-Figure 4 As shown, the conveyor line 13 is used for loading IGBT modules 14 to be tested and unloading IGBT modules 14 that have been tested and qualified.

[0039] In this embodiment, if Figure 2As shown, a lifting device 4 connected to the chassis 2 and an in-place detection device 12 are provided next to the conveyor line 3. A stopper 5 is provided on the upper end of the lifting device 4. The stopper 5 rises to stop the IGBT module 14 on the conveyor line 3. The in-place detection device 12 is used to detect the position of the IGBT module 14 on the conveyor line 3. When the in-place detection device 12 detects the arrival of the IGBT module 14, it sends a detection signal, and accordingly controls the lifting device 4 to lift the stopper 5 to stop the IGBT module 14 on the conveyor line 3 so that the subsequent lifting plate 8 can be lifted.

[0040] In this embodiment, if Figure 2 As shown, a lifting device 2 6 and a transverse moving device 10 connected to the chassis 2 are provided next to the conveyor line 3. A lifting plate 8 is provided on the upper end of the lifting device 2 6. After the block 5 stops the IGBT module 14 on the conveyor line 3, the lifting plate 8 rises to lift the IGBT module 14 and separate it from the conveyor line 3, so that the IGBT module 14 can be placed on the support plate 11 later.

[0041] Furthermore, in order to make the lifting plate 8 rise and fall smoothly, Figure 2 As shown, the lower end of the lifting plate 8 is connected to a guide column 7, and the guide column 7 is vertically arranged and vertically slidably connected to the chassis 2.

[0042] In this embodiment, if Figure 2 As shown, the transverse moving device 10 is installed on the mounting frame 9, and the mounting frame 9 is fixedly connected to the chassis 2. The transverse moving device 10 is connected to the support plate 11. The support plate 11 is moved transversely toward the conveyor line 3 under the drive of the transverse moving device 10, and moves to the bottom of the IGBT module 14. With this design, when the lifting plate 8 is lowered and reset, the IGBT module 14 is placed on the support plate 11. After the lifting plate 8 is lowered and reset, the remaining IGBT modules 14 on the conveyor line 3 can continue to be driven by the conveyor line 3 to pass under the support plate 11 without delaying the loading of the conveyor line 3. The IGBT modules 14 on the support plate 11 are then transferred to the conveyor line 2 17 for needle detection.

[0043] Furthermore, in order to facilitate the conveying of the IGBT module 14 by the conveying line 13, Figure 2 As shown, the IGBT module 14 is placed on the tray 13, and the tray 13 is placed on the conveyor line 3, and the tray 13 moves horizontally through the conveyor line 3.

[0044] In this embodiment, if Figure 3As shown, the material moving device includes a three-axis translation mechanism 15 and an automatic clamp 16 connected to the three-axis translation mechanism 15. The automatic clamp 16 can clamp the IGBT module 14. The three-axis translation mechanism 15 is installed on the chassis 2. The three-axis translation mechanism 15 drives the automatic clamp 16 to move along the XYZ three axes to clamp the IGBT module 14 on the support plate 11.

[0045] In this embodiment, a carrier jig 18 is provided on the conveyor line 2 17, and the carrier jig 18 is used to place the IGBT module 14. After the material moving device clamps the IGBT module 14 on the support plate 11, the IGBT module 14 is placed on the carrier jig 18. The visual inspection device 19 and the needle shifting assembly are located next to the conveyor line 2 17. The conveyor line 2 17 drives the IGBT module 14 to pass through the visual inspection device 19 and the needle shifting assembly in turn to receive visual inspection by the visual inspection device 19 and needle shifting inspection by the needle shifting assembly. The structure of the visual inspection device 19 is as follows Figure 6 As shown, the structure of the conveying line 2 17 is as follows Figure 5 shown.

[0046] In this embodiment, if Figure 2 and Figure 3 As shown, the material transfer device is also used to transfer the IGBT module 14 that fails the pin-shifting test from the carrier jig 18 to the conveyor line three 24 for unloading, and to transfer the IGBT module 14 that passes the pin-shifting test from the carrier jig 18 to the tray 13 of the support plate 11. After the tray 13 is filled with material, the lifting plate 8 drives the tray 13 down to the conveyor line 3, and then the conveyor line 3 sends the unloaded material away.

[0047] In this embodiment, the pin-moving assembly is used to perform pin-moving detection on the PIN pins on the IGBT module 14 conveyed by the conveyor line 13 to determine whether the PIN pins are firmly welded.

[0048] Specifically, such as Figure 4 and Figure 7As shown, the needle shifting assembly includes: a three-axis translation mechanism 20, a transverse movement device 21, an axial force sensor 22, and a needle shifting piece 23. The three-axis translation mechanism 20 is fixedly connected to the chassis 2; the transverse movement device 21 is connected to the three-axis translation mechanism 20, and the transverse movement device 21 is driven to move along the XYZ three axes through the three-axis translation mechanism 20; the axial force sensor 22 is connected to the transverse movement device 21, and the axial force sensor 22 is driven to move horizontally through the transverse movement device 21; the needle shifting piece 23 is connected to the axial force sensor 22, and the needle shifting piece 23 is connected to the axial force sensor 22. It can swing relative to the axial force sensor 22, and then squeeze the axial force sensor 22, so that the axial force sensor 22 detects a pressure, and the needle shifting member 23 descends and can be inserted into the PIN needle. The axial force sensor 22 is used to detect the axial thrust of the needle shifting member 23 on it, that is, the upward pressure of the needle shifting member 23 on it. When the needle shifting member 23 swings, one end of its upper surface in the swinging direction pushes the axial force sensor 22. At this time, the axial force sensor 22 can detect the upward pressure of the needle shifting member 23 on it. Preferably, the axial force sensor 22 is a multi-dimensional force sensor.

[0049] Working principle: The IGBT module 14 to be tested is placed on the tray 13 and then loaded through the conveyor line 3. After the in-place detection device 12 detects the tray 13, the jacking device 4 controls the stopper 5 to lift and stop the tray 13, and then the jacking device 2 6 controls the jacking plate 8 to rise to lift the tray 13 and separate it from the conveyor line 3. Then the transverse movement device 10 controls the support plate 11 to move transversely to the bottom of the tray 13, and then the jacking plate 8 descends and resets, and the tray 13 remains on the support plate 11. After the jacking plate 8 is reset, the other trays 13 on the conveyor line 3 can continue to be transported by the conveyor line 3 without being affected.

[0050] The three-axis translation mechanism 15 drives the automatic gripper 16 to pick up the IGBT module 14 in the tray 13 on the support plate 11, and then places the IGBT module 14 on the carrier jig 18. The conveyor line 2 17 drives the carrier jig 18 to move to the bottom of the visual inspection device 19, as shown in FIG. Figure 7As shown, the visual inspection of the visual inspection device 19 is performed at this position, and then the positions of the carrier fixture 18, the IGBT module 14, and the PIN pins thereon are identified. These position information are transmitted to the controller, and the controller controls the three-axis translation mechanism 20 to adjust the position of the needle-shifting member 23. When the conveyor line 217 drives the carrier fixture 18 to move to the needle-shifting assembly, the three-axis translation mechanism 220 drives the needle-shifting member 23 to descend vertically and insert it on the PIN pin. Then, the three-axis translation mechanism 220 drives the needle-shifting member 23 to move horizontally to shift the PIN pin to generate a thrust on the PIN pin. At this time, the reaction force of the PIN pin on the needle-shifting member 23 causes the needle-shifting member 23 to swing. The axial force sensor 22 detects the upward pressure of the needle member 23 on it, and the axial force sensor 22 transmits the detection data to the processor in real time. Under normal circumstances, the PIN pin is firmly welded. As the displacement of the needle member 23 moves horizontally, the swing amplitude of the needle member 23 increases, and the axial force sensor 22 detects that the upward pressure of the needle member 23 on it is greater. If the PIN pin is not firmly welded and is loose, as the displacement of the needle member 23 moves horizontally, the axial force sensor 22 detects that the upward pressure of the needle member 23 on it is not gradually increasing under normal circumstances. Based on this abnormal detection data, it is possible to accurately identify and judge whether the PIN pin is firmly welded.

[0051] like Figure 4 As shown, the needle setting assembly is provided with a row of multiple needle setting members 23, which can be used for Figure 2 All PIN pins on one side of the IGBT module 14 are tested for pin shifting. After the test of all PIN pins on one side of the IGBT module 14 is completed, the second lateral movement device 21 is controlled to drive the pin shifting member 23 to move to the other side of the IGBT module 14, and then the above action is repeated to perform pin shifting test on all PIN pins on the other side of the IGBT module 14 until the test of the PIN pins on the IGBT module 14 is completed. During the test process, the processor generates corresponding test data for each PIN pin and stores it for review.

[0052] It should be noted that after the pin-moving member 23 is vertically lowered and inserted into the PIN pin, the horizontal displacement of the pin-moving member 23 cannot be too large, otherwise the firmly welded PIN pin will be damaged. The specific displacement amount can be flexibly set according to the actual situation of the PIN pin, as long as it can be judged whether the PIN pin is firmly welded.

[0053] It can be seen that the fully automatic PIN pin moving device of this embodiment can replace manual work to complete the PIN pin moving action, and use the axial force sensor 22 to detect and determine whether the PIN pin welding is firm during the pin moving process, and generate corresponding test data for each PIN pin for review, thereby realizing the binding of test results and PIN pins, eliminating the trouble of manual recording of test data. Compared with manual inspection, the inspection accuracy is high, the quality inspection quality is excellent, there is no problem of being affected by human subjective operation differences, the inspection speed is fast, the efficiency is high, and the inspection accuracy is high.

[0054] After an IGBT module 14 completes the inspection, if all the PIN pins of the IGBT module 14 are qualified, the three-axis translation mechanism 15 drives the automatic clamp 16 to clamp the IGBT module 14 and send it to the tray 13 on the support plate 11; on the contrary, if at least one PIN pin of the IGBT module 14 fails the inspection, the three-axis translation mechanism 15 drives the automatic clamp 16 to clamp the IGBT module 14 and send it to the conveyor line 3 24 for loading and unloading. After the tray 13 is full of IGBT modules 14, the lifting plate 8 rises to lift the tray 13, and then the support plate 11 is reset. The lifting plate 8 drives the tray 13 down to the conveyor line 3, and the conveyor line 3 sends the qualified IGBT module 14 to the unloading.

[0055] Furthermore, in order to improve the detection efficiency, Figure 2-Figure 4 As shown, a plurality of conveyor lines 2 17 can be arranged next to a conveyor line 1 3 , and each conveyor line 2 17 is equipped with a visual inspection device 19 and a needle shifting assembly.

[0056] The above description is only a preferred embodiment of the present invention and does not limit the patent scope of the present invention. All equivalent structural transformations made by using the contents of the present invention specification and drawings under the utility model concept, or direct / indirect application in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A fully automatic PIN needle setting device, characterized in that: It includes a chassis and a conveyor line 1, a material moving device, a conveyor line 3, and a pin shifting assembly arranged on the chassis. The pin shifting assembly is used to perform pin shifting detection on the PIN pins on the IGBT module conveyed by the conveyor line 1, and the material moving device is used to transfer the IGBT module that fails the pin shifting detection from the conveyor line 1 to the conveyor line 3.

2. A fully automatic PIN needle setting device as claimed in claim 1, characterized in that: The material moving device includes a three-axis translation mechanism 1 and an automatic clamp connected to the three-axis translation mechanism 1, the automatic clamp can clamp the IGBT module, and the three-axis translation mechanism 1 is installed on the chassis.

3. A fully automatic PIN needle setting device as claimed in claim 2, characterized in that: It also includes a conveyor line 2 and a visual inspection device installed on the chassis. The visual inspection device and the needle shifting assembly are located next to the conveyor line 2. The material moving device is used to move the IGBT module from the conveyor line 1 to the conveyor line 2. The conveyor line 2 is used to drive the IGBT module to pass through the visual inspection device and the needle shifting assembly in turn to undergo visual inspection by the visual inspection device and needle shifting inspection by the needle shifting assembly. The material moving device is also used to transfer the IGBT module that fails the needle shifting inspection from the conveyor line 2 to the conveyor line 3, and to transfer the IGBT module that passes the needle shifting inspection from the conveyor line 2 to the conveyor line 1.

4. A fully automatic PIN needle setting device as claimed in claim 3, characterized in that: The needle setting assembly includes: Three-axis translation mechanism 2, fixedly connected to the chassis; The second transverse moving device is connected to the second three-axis translation mechanism, and drives the second transverse moving device to move along the XYZ three axes through the second three-axis translation mechanism; The axial force sensor is connected to the second transverse movement device, and the second transverse movement device drives the axial force sensor to move horizontally; The needle shifting piece is connected to the axial force sensor. The needle shifting piece can swing relative to the axial force sensor and squeeze the axial force sensor so that the axial force sensor detects a pressure. The needle shifting piece descends and can be inserted into the PIN needle.

5. The fully automatic PIN needle setting device according to claim 1, characterized in that: A lifting device 1 connected to the chassis and an in-place detection device are provided on the side of the conveyor line. A stop block is provided on the upper end of the lifting device 1. The stop block rises to stop the IGBT module on the conveyor line 1. The in-place detection device is used to detect the position of the IGBT module on the conveyor line 1.

6. A fully automatic PIN needle setting device as claimed in claim 5, characterized in that: A lifting device 2 and a transverse moving device 1 connected to the chassis are provided on one side of the conveyor line. A lifting plate is provided on the upper end of the lifting device 2. When the lifting plate rises, the IGBT module can be lifted and separated from the conveyor line 1. The first transverse moving device is connected to a support plate. Driven by the first transverse moving device, the support plate moves laterally toward the first conveyor line and moves to the position directly below the IGBT module. During the process of the lifting plate descending and resetting, the IGBT module is placed on the support plate. The support plate is located above the conveyor line 1, and the remaining IGBT modules on the conveyor line 1 can pass under the support plate.

7. A fully automatic PIN needle setting device as claimed in claim 3, characterized in that: The conveyor line 2 is provided with a carrier jig, and the carrier jig is used to place the IGBT module.

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