Reactive aging full-automatic loading and unloading system suitable for IGBT (Insulated Gate Bipolar Translator) module

Abstract

A reactive aging full-automatic feeding and discharging system suitable for an IGBT module comprises a linear module and a double-R-axis rotating cantilever mechanical arm. The double-R-axis rotary cantilever manipulator is arranged on the linear module, and the linear module drives the double-R-axis rotary cantilever manipulator to move on an X axis, a Y axis and a Z axis; the double-R-axis rotating cantilever manipulator comprises a cantilever R-axis rotating disc assembly, a cantilever assembly is fixed to the bottom of an R-axis rotating disc of the cantilever R-axis rotating disc assembly, an R-axis DD motor is arranged on the side, away from the R-axis rotating disc, of the bottom of the cantilever assembly, and a main clamping jaw assembly is arranged at the bottom of the R-axis DD motor. A first staggered-layer clamping jaw assembly and a second staggered-layer clamping jaw assembly are arranged on the two sides of the main clamping jaw assembly correspondingly. The main clamping jaw assembly, the first staggered-layer clamping jaw assembly and the second staggered-layer clamping jaw assembly can independently clamp one material. According to the cantilever assembly, the working range can be expanded, the efficiency is greatly improved through the three-station design, and material taking and discharging actions can be achieved through one-time operation.

Description

TECHNICAL FIELD

[0001] The utility model relates to IGBT module feeding and discharging technical field, especially a kind of reactive aging full-automatic feeding and discharging system suitable for IGBT module. BACKGROUND

[0002] IGBT (Insulated Gate Bipolar Transistor) module is insulated gate bipolar transistor module, and it is the modular semiconductor product that IGBT chip and FWD (free-wheeling diode chip) are bridged and packaged by specific circuit.IGBT module is based on its non-passing just off semiconductor characteristics.In module, the parallel and series structure of several IGBT chip units is built.When direct current passes through module, the flow direction and frequency of current are changed by the quick opening and closing of different switch combinations, so that the required alternating current is output.This quick switching operation enables IGBT module to be used in high-frequency circuit, improving the performance of system.IGBT module feeding and discharging is an important link in its production and related application process.

[0003] The existing IGBT module feeding and discharging part is through manual product placement into work station by operator, and the test completed material is taken out.Meanwhile, when responsible for multiple test machines, the labor intensity of operator is greatly increased, and the efficiency is low, and the cost is high;There also exists part of mechanical hand feeding and discharging, because of material characteristics, it needs to reprogram or adjust equipment, and the investment cost is higher.Mechanical hand can only clamp single work station material for transfer, and the efficiency is too low.

[0004] Therefore, we propose a kind to be suitable for IGBT module's reactive aging full-automatic feeding and discharging system. UTILITY MODEL CONTENTS

[0005] The applicant provides a kind to be suitable for IGBT module's reactive aging full-automatic feeding and discharging system to solve the above-mentioned defects in prior art production technology, so that cantilever assembly can expand working range, and three work station design greatly improves efficiency, so that taking material and feeding action can be realized in one operation.

[0006] The technical scheme adopted by the utility model is as follows:

[0007] A kind to be suitable for IGBT module's reactive aging full-automatic feeding and discharging system, comprising:

[0008] Linear module;

[0009] Double-R-axis rotary cantilever manipulator is arranged on linear module, and linear module drives double-R-axis rotary cantilever manipulator to move on X axis, Y axis and Z axis;

[0010] The double-R-axis rotary cantilever manipulator comprises a cantilever R-axis turntable assembly, the bottom of the R-axis turntable assembly is fixed with a cantilever assembly, the bottom of the cantilever assembly is provided with an R-axis DD motor away from the R-axis turntable, the bottom of the R-axis DD motor is provided with a main gripper assembly, and the main gripper assembly is provided with a first staggered gripper assembly and a second staggered gripper assembly on the two sides, respectively.

[0011] The main gripper assembly, the first staggered gripper assembly and the second staggered gripper assembly can clamp one material separately.

[0012] Further features are as follows:

[0013] The linear module comprises an X-axis linear module, the X-axis linear module is provided with a Z-axis linear module, the Z-axis linear module is provided with a Y-axis linear module, and the double-R-axis rotary cantilever manipulator is arranged on the Y-axis linear module.

[0014] The cantilever R-axis turntable assembly comprises a fixing frame, the fixing frame is provided with a motor, the R-axis turntable is connected to the output shaft of the motor, and the fixing frame is connected to the Y-axis linear module.

[0015] The cantilever assembly comprises a cantilever, the cantilever is connected to the R-axis turntable, and the R-axis DD motor is arranged at the bottom of the cantilever away from the R-axis turntable.

[0016] The bottom of the cantilever is provided with an ultramicro groove type photoelectric sensor.

[0017] The main gripper assembly comprises an electric gripper, the electric gripper is connected to the RDD motor through a connecting plate, and the electric gripper is provided with a gripper plate.

[0018] The electric gripper is provided with a solenoid valve, and the gripper plate is provided with a POM finger for protecting the material.

[0019] The first staggered gripper assembly comprises a pneumatic gripper, the pneumatic gripper is provided with a staggered gripper plate, the pneumatic gripper is arranged on a pneumatic cylinder through a connecting plate, and the pneumatic cylinder is connected to the electric gripper through a fixing plate.

[0020] The fixing plate is further provided with a diffuse reflection photoelectric sensor.

[0021] The first staggered gripper assembly and the second staggered gripper assembly are the same in structure.

[0022] The beneficial effects of the utility model are as follows:

[0023] The utility model discloses compact, reasonable, convenient operation, through X axis linear module drive double R axle rotary cantilever manipulator along X axle movement, through Y axle linear module drive double R axle rotary cantilever manipulator along Y axle movement, through Z axle linear module drive double R axle rotary cantilever manipulator along Z axle movement, main jaw subassembly, first staggered layer jaw subassembly and third staggered layer jaw subassembly can feed, through three station jaw material transfer, save time cost, reduce equipment factory building land occupation. Main jaw subassembly, first staggered layer jaw subassembly and third staggered layer jaw subassembly can be executed independently respectively, do not interfere with each other, greatly promote the whole equipment UPH. Can exclude human factor interference, ensure the stability of material transfer. Through automation operation, cantilever manipulator can significantly improve production efficiency, reduce manual operation's time and physical exertion. Cantilever design can save space greatly, and simultaneously expand the working range of manipulator, make it can cover more extensive work area. Can be according to different work needs and be flexibly configured and expanded, applicable to multiple working environment and workpiece processing.

[0024] Meanwhile, the utility model still has following advantages:

[0025] (1) cantilever R axle turntable subassembly can drive cantilever subassembly, main jaw subassembly, first staggered layer jaw subassembly and second staggered layer jaw subassembly do 180 DEG rotation movement. Through R axle DD motor can drive main jaw subassembly, first staggered layer jaw subassembly and second staggered layer jaw subassembly do 360 DEG rotation movement, expand the working range of manipulator, save factory building land occupation. SUMMARY

[0026] Figure 1 It is the structural schematic diagram of the utility model.

[0027] Figure 2 It is the linear module schematic diagram of the utility model.

[0028] Figure 3 It is the double R axle rotary cantilever manipulator schematic diagram of the utility model.

[0029] Figure 4 It is the cantilever R axle turntable subassembly schematic diagram of the utility model.

[0030] Figure 5 It is the cantilever subassembly schematic diagram of the utility model.

[0031] Figure 6 It is the main jaw subassembly schematic diagram of the utility model.

[0032] Figure 7 It is the first staggered layer jaw subassembly schematic diagram of the utility model.

[0033] Figure 8 It is the double R axle rotary cantilever manipulator front view of the utility model.

[0034] Figure 9 This is a schematic diagram of the main gripper assembly, the first staggered gripper assembly, and the second staggered gripper assembly of this utility model.

[0035] Figure 10 for Figure 9 The front view.

[0036] Figure 11 This is a schematic diagram of the motion of the dual R-axis rotary cantilever manipulator of this utility model. Figure 1 .

[0037] Figure 12 This is a schematic diagram of the motion of the dual R-axis rotary cantilever manipulator of this utility model. Figure 2 .

[0038] Figure 13 This is a schematic diagram of the motion of the dual R-axis rotary cantilever manipulator of this utility model. Figure 3 .

[0039] Figure 14 This is a schematic diagram of the motion of the dual R-axis rotary cantilever manipulator of this utility model. Figure 4 .

[0040] Figure 15 This is a schematic diagram of the motion of the dual R-axis rotary cantilever manipulator of this utility model. Figure 5 .

[0041] The components include: 1. Linear module; 101. X-axis linear module; 102. Y-axis linear module; 103. Z-axis linear module; 2. Dual R-axis rotary cantilever manipulator; 201. Cantilever R-axis turntable assembly; 2011. Fixing frame; 2012. Motor; 2013. R1 axis turntable; 202. Cantilever assembly; 2021. Cantilever; 2022. R2 axis DD motor; 2023. Ultra-micro slotted photoelectric sensor; 203. Main gripper assembly; 2031. Connecting plate; 2032. Electric gripper; 2033. Gripper plate; 2034. Solenoid valve; 204. First staggered gripper assembly; 2041. Pneumatic gripper fixing plate; 2042. Pneumatic gripper; 2043. Staggered gripper plate; 2044. Diffuse reflection photoelectric sensor; 2045. Cylinder; 2046. Fixing plate; 205. Second staggered gripper assembly. Detailed Implementation

[0042] The specific embodiments of this utility model are described below with reference to the accompanying drawings.

[0043] like Figures 1-10 As shown, a fully automatic loading and unloading system for reactive power aging of IGBT modules includes a linear module 1 and a dual R-axis rotary cantilever robot 2.

[0044] The linear module 1 is used to drive the double-R-axis rotary cantilever manipulator 2 to move linearly.

[0045] The linear module 1 comprises an X-axis linear module 101, a Y-axis linear module 102 and a Z-axis linear module 103. The Z-axis linear module 103 is arranged on the X-axis linear module 101, the Z-axis linear module 103 is driven by the X-axis linear module 101 to move along the X-axis, the Y-axis linear module 102 is arranged on the Z-axis linear module 103, the Y-axis linear module 102 is driven by the Z-axis linear module 103 to move along the Z-axis, and the double-R-axis rotary cantilever manipulator 2 is arranged on the Y-axis linear module 102, the double-R-axis rotary cantilever manipulator 2 is driven by the Y-axis linear module 102 to move along the Y-axis. The double-R-axis rotary cantilever manipulator 2 can be driven by the linear module 1 to move along the X-axis, the Y-axis and the Z-axis.

[0046] In an embodiment, the X-axis linear module 101 comprises a linear guide rail and a driving device.

[0047] In an embodiment, the Y-axis linear module 102 comprises a linear guide rail and a driving device.

[0048] In an embodiment, the Z-axis linear module 103 comprises a linear guide rail and a driving device.

[0049] The double-R-axis rotary cantilever manipulator 2 comprises a cantilever R-axis turntable assembly 201, a cantilever assembly 202, a main gripper assembly 203, a first staggered gripper assembly 204 and a second staggered gripper assembly 205.

[0050] The cantilever R-axis turntable assembly 201 comprises a fixed frame 2011, a motor 2012 and an R1-axis turntable 2013, the fixed frame 2011 is fixed on the Y-axis linear module 102, the motor 2012 is arranged on the fixed frame 2011, and the R1-axis turntable 2013 is fixedly connected with an output shaft of the motor 2012.

[0051] The cantilever assembly 202 comprises a cantilever 2021, an R2-axis DD motor 2022 and an ultramicro slot photoelectric sensor 2023, one end of the cantilever 2021 is fixedly connected with the R1-axis turntable 2013, an R2-axis DD motor 2022 is arranged at the other end of the cantilever 2021, the R2-axis DD motor 2022 can rotate by 360°, and an ultramicro slot photoelectric sensor 2023 is further arranged at the bottom of the cantilever 2021.

[0052] The motor 2012 can drive the cantilever 2021 to make 180° rotary motion through the R1-axis turntable 2013.

[0053] The main jaw assembly 203 includes a connecting plate 2031, an electric jaw 2032, a jaw plate 2033 and a solenoid valve 2034, the connecting plate 2031 is fixedly connected with the R2 shaft DD motor 2022, the bottom of the connecting plate 2031 is provided with the electric jaw 2032, the electric jaw 2032 is provided with the jaw plate 2033, the jaw plate 2033 is provided with a POM finger, the POM finger plays a role of protecting the material and preventing the material from being damaged in the clamping movement. The electric jaw 2032 is provided with the solenoid valve 2034 on one side.

[0054] The main jaw assembly 203 is provided with a first staggered jaw assembly 204 on one side, and a second staggered jaw assembly 205 on the other side, and the first staggered jaw assembly 204 and the second staggered jaw assembly 205 are the same in structure.

[0055] The first staggered jaw assembly 204 includes a gas jaw fixing plate 2041, a pneumatic jaw 2042, a staggered jaw plate 2043, a diffuse reflection photoelectric sensor 2044, a gas cylinder 2045 and a fixing plate 2046. The diffuse reflection photoelectric sensor 2044 is used for detecting whether the material is clamped.

[0056] The pneumatic jaw 2042 is arranged on the gas jaw fixing plate 2041, the pneumatic jaw 2042 is provided with the staggered jaw plate 2043, the staggered jaw plate 2043 is provided with a POM finger, the POM finger plays a role of protecting the material and preventing the material from being damaged in the clamping movement. The gas jaw fixing plate 2041 is connected with the telescopic rod of the gas cylinder 2045, the gas cylinder 2045 is connected with the fixing plate 2046, and the fixing plate 2046 is connected with the electric jaw 2032. The fixing plate 2046 is also provided with the diffuse reflection photoelectric sensor 2044. The gas cylinder 2045 can drive the gas jaw fixing plate 2041 to ascend and descend, thereby driving the pneumatic jaw 2042 to ascend and descend.

[0057] As shown in Figure 11 , the X-axis linear module 101 can drive the double-R-axis rotary cantilever robot 2 to move along the X-axis through the Z-axis linear module 103 and the Y-axis linear module 102, and can be quickly and accurately positioned at any position in the process.

[0058] As shown in Figure 12 , the Y-axis linear module 102 can drive the double-R-axis rotary cantilever robot 2 to move along the Y-axis, and can be quickly and accurately positioned at any position in the process.

[0059] As shown in Figure 13 , the Z-axis linear module 102 can drive the Y-axis linear module 102 and the double-R-axis rotary cantilever robot 2 to move along the Z-axis, and can be quickly and accurately positioned at any position in the process

[0060] As shown in Figure 14As shown, the cantilever R-axis rotary disc assembly 201 can drive the cantilever assembly 202, the main jaw assembly 203, the first staggered jaw assembly 204 and the second staggered jaw assembly 205 to rotate 180°.

[0061] As shown, the main jaw assembly 203, the first staggered jaw assembly 204 and the second staggered jaw assembly 205 can be driven by the R2-axis DD motor 2022 to rotate 360°. Figure 15

[0062] In specific use, the double-R-axis rotary cantilever manipulator 2 is driven by the X-axis linear module 101 to move along the X-axis, by the Y-axis linear module 102 to move along the Y-axis, and by the Z-axis linear module 103 to move along the Z-axis; the main jaw assembly 203, the first staggered jaw assembly 204 and the third staggered jaw assembly 205 can be used for feeding and discharging, and the three-station jaw is used for material transfer, which saves time cost and reduces equipment factory land occupation. The main jaw assembly 203, the first staggered jaw assembly 204 and the third staggered jaw assembly 205 can be independently executed, and do not interfere with each other, which greatly improves the overall equipment UPH. Human factor interference can be excluded to ensure the stability of material transfer. Through automatic operation, the cantilever manipulator can significantly improve production efficiency and reduce time and physical consumption of manual operation. The cantilever design can greatly save space, and at the same time expand the working range of the manipulator, so that it can cover a wider working area. It can be flexibly configured and expanded according to different operation requirements, and is suitable for processing of various working environments and workpieces.

[0063] The cantilever assembly 202 expands the working range of the manipulator and saves factory land occupation. The three-station design greatly improves the efficiency, so that the material taking and discharging actions can be realized at one time, which is 2 to 3 times the efficiency of the traditional manipulator. The first staggered jaw assembly 204 and the second staggered jaw assembly 205 can realize single clamping of one material. The modular design can realize grabbing of different products by replacing the clamps.

[0064] The above description is an explanation of the utility model, not a limitation of the utility model. The scope defined by the utility model is referred to the claims. Within the protection scope of the utility model, any form of modification can be made.​

Claims

1. A fully automatic loading and unloading system for reactive power aging of IGBT modules, characterized in that, include: Line module (1); A dual R-axis rotary cantilever manipulator (2) is mounted on a linear module (1) and is driven by the linear module (1) to move along the X-axis, Y-axis and Z-axis. Among them, the dual R-axis rotary cantilever manipulator (2) includes a cantilever R-axis turntable assembly (201). The bottom of the R1 axis turntable (2013) of the cantilever R-axis turntable assembly (201) is fixed with a cantilever assembly (202). An R2 axis DD motor (2022) is provided on the side of the bottom of the cantilever assembly (202) away from the R1 axis turntable (2013). A main gripper assembly (203) is provided at the bottom of the R2 axis DD motor (2022). A first staggered gripper assembly (204) and a second staggered gripper assembly (205) are respectively provided on both sides of the main gripper assembly (203). The main gripper assembly (203), the first staggered gripper assembly (204), and the second staggered gripper assembly (205) can each grip a material individually.

2. The fully automatic loading and unloading system for reactive power aging of IGBT modules as described in claim 1, characterized in that: The linear module (1) includes an X-axis linear module (101), a Z-axis linear module (103) is provided on the X-axis linear module (101), a Y-axis linear module (102) is provided on the Z-axis linear module (103), and a dual R-axis rotary cantilever manipulator (2) is provided on the Y-axis linear module (102).

3. The fully automatic loading and unloading system for reactive power aging of IGBT modules as described in claim 2, characterized in that: The cantilever R-axis turntable assembly (201) includes a fixed frame (2011), on which a motor (2012) is mounted. The R1-axis turntable (2013) is connected to the output shaft of the motor (2012), and the fixed frame (2011) is connected to the Y-axis linear module (102).

4. The fully automatic loading and unloading system for reactive power aging of IGBT modules as described in claim 3, characterized in that: The cantilever assembly (202) includes a cantilever (2021), which is connected to the R1 axis turntable (2013), and the R2 axis DD motor (2022) is located at the bottom of the cantilever (2021) on the side away from the R1 axis turntable (2013).

5. The fully automatic loading and unloading system for reactive power aging of IGBT modules as described in claim 4, characterized in that: The bottom of the cantilever (2021) is equipped with an ultra-micro groove type photoelectric sensor (2023).

6. The fully automatic loading and unloading system for reactive power aging of IGBT modules as described in claim 4, characterized in that: The main gripper assembly (203) includes an electric gripper (2032), which is connected to the R2 axis DD motor (2022) via a connecting plate. The electric gripper (2032) is provided with a gripper plate (2033).

7. The fully automatic loading and unloading system for reactive power aging of IGBT modules as described in claim 6, characterized in that: The electric gripper (2032) is equipped with a solenoid valve (2034), and the gripper plate (2033) is equipped with POM gripping fingers for protecting materials.

8. The fully automatic loading and unloading system for reactive power aging of IGBT modules as described in claim 6, characterized in that: The first staggered gripper assembly (204) includes a pneumatic gripper (2042), on which a staggered gripper plate (2043) is provided. The pneumatic gripper (2042) is mounted on a cylinder (2045) via a gripper fixing plate (2041). The cylinder (2045) is connected to an electric gripper (2032) via a fixing plate (2046).

9. The fully automatic loading and unloading system for reactive power aging of IGBT modules as described in claim 8, characterized in that: A diffuse reflection photoelectric sensor (2044) is also provided on the fixed plate (2046).

10. The fully automatic loading and unloading system for reactive power aging of IGBT modules as described in claim 9, characterized in that: The first staggered gripper assembly (204) and the second staggered gripper assembly (205) have the same structure.

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