Self-adaptive adsorption and bidirectional positioning device for power electronic component

Abstract

The utility model discloses a self-adaptive adsorption and bidirectional positioning device for a power electronic component, and belongs to the technical field of power electronic component manufacturing. The grabbing and positioning device solves the problems that when an existing grabbing and positioning device grabs and positions a workpiece, adsorption is not stable, and positioning precision is low. Comprising a frame, a lifting driving system, a self-adaptive adsorption assembly, a bidirectional positioning system and a control and gas path system, the self-adaptive adsorption assembly comprises a vacuum connecting pipe, a ball seat shell, a universal ball head, a suction nozzle guide sleeve and a suction nozzle head, and the vacuum connecting pipe is fixedly connected with the ball seat shell in a communicating mode; and the universal ball head is nested in a ball socket at the bottom of the ball seat shell and is communicated with the interior of the ball seat shell. Complete attachment of the suction nozzle head and the workpiece is achieved through flexible adsorption of the self-adaptive adsorption assembly, the phenomenon that the workpiece falls in the adsorption process is eradicated, accurate centering is conducted through rigid clamping of the two-way positioning system, and extremely high repeated positioning accuracy is achieved.

Description

TECHNICAL FIELD

[0001] The utility model relates to power electronic component manufacturing technical field especially relates to a kind of self-adaptive adsorption and bidirectional positioning device for power electronic component. BACKGROUND

[0002] In the field of power electronics, such as power module, integrated circuit and precision sensor and other components of the automated assembly production line, the accurate grabbing and positioning of workpiece are the key link to ensure the quality of subsequent processes such as welding, bonding.

[0003] However, the existing grabbing positioning device in practical application, first, the problem of poor surface adaptability of workpiece, power electronic components may exist small uneven or tilt, traditional rigid suction nozzle when contacting such workpiece, it is difficult to achieve complete bonding, easy to cause unstable vacuum adsorption even air leakage, resulting in dropping or displacement problem;Second, due to the limitation of friction and other factors, simply rely on vacuum adsorption in the operation of repeated positioning accuracy often difficult to achieve the requirement of precision assembly, and traditional mechanical clamping jaw adopts direct clamping, if there is no effective buffer and force control mechanism, it is easy to cause mechanical damage to the edge or surface of precision workpiece;Third, most of the power electronic components are extremely sensitive to static electricity, the existing positioning device lacks continuous and low impedance static electricity release path, in the process of high-speed grabbing and moving, easy to produce static electricity accumulation, resulting in power electronic components being damaged by static electricity;Finally, the existing equipment often separates the adsorption system and the centering mechanism, not only leads to device structure redundancy, bulky, and due to the incoordination of action rhythm, it is difficult to realize high-speed, efficient operation in complex automated production line. SUMMARY

[0004] The utility model is to solve the problem that the existing grabbing positioning device is unstable, low positioning accuracy, easy to damage workpiece and lack of electrostatic protection when grabbing and positioning the surface uneven, electrostatic sensitive workpiece, and further provides a kind of self-adaptive adsorption and bidirectional positioning device for power electronic component.

[0005] The utility model discloses a technical scheme adopted for solving the above technical problem is: a kind of self-adapting adsorption and two-way positioning device for power electronic components, including frame, lifting drive system, self-adapting adsorption component, two-way positioning system and control and gas path system, the lifting drive system bolt solid connection in the top of the frame, the self-adapting adsorption component is moved along vertical direction by the lifting drive system, the inside of the self-adapting adsorption component is internal passage, the self-adapting adsorption component includes vacuum connection pipe, ball seat shell, universal ball head, suction nozzle guide sleeve and suction nozzle head, the vacuum connection pipe is communicated and is fixedly connected with the ball seat shell, the universal ball head is nested in the ball socket in the bottom of the ball seat shell, and is communicated with the inside of the ball seat shell, one end of the suction nozzle guide sleeve is communicated and is fixedly connected with the universal ball head, and its other end is fixedly connected with the suction nozzle head, the two-way positioning system includes two sets of clamping components, the two sets of clamping components are fixedly connected in the two sides of the self-adapting adsorption component, each clamping component includes positioning drive part and positioning clamping jaw, the positioning clamping jaw is fixedly connected with the output end of the positioning drive part, the control and gas path system is fixedly connected on the frame, and the adsorption of the self-adapting adsorption component and the clamping of the clamping component are controlled by the control and gas path system.

[0006] Further, the self-adapting adsorption component further includes a connecting frame, a plurality of first elastic members, and a second elastic member. The connecting frame is fixedly connected to the periphery of the vacuum connection pipe. The connecting frame is fixedly connected with the ball seat shell through the plurality of first elastic members. The second elastic member is sleeved on the periphery of the suction nozzle guide sleeve.

[0007] Further, the lifting drive system includes a driving motor, a lifting seat, and a guide column. The driving motor is fixed on the frame. The output end of the driving motor is fixedly connected with the lifting seat. The guide column is fixedly connected with the frame along the vertical direction. The lifting seat is arranged on the guide column and is slidingly connected with the guide column.

[0008] Further, the control and gas path system includes a control box, a gas path distribution valve, and a vacuum generator. The vacuum generator is communicated with the vacuum connection pipe. The two gas outlets of the gas path distribution valve are respectively communicated with the corresponding air inlet of the positioning drive part. The driving motor, the vacuum generator, and the gas path distribution valve are controlled to act in coordination by the control box.

[0009] Further, a vacuum hose is arranged in the internal passage. The two ends of the vacuum hose are respectively communicated with the inlet of the vacuum connection pipe and the suction nozzle head.

[0010] Further, the outer periphery of the connecting frame is fixedly connected with the inner wall of the lifting seat.

[0011] Further, the universal ball head can be deflected in any direction about the center point and relative to the axis thereof, and the deflection angle range thereof is 0°-10°.

[0012] Further, the end of the nozzle guide sleeve is a stepped surface, and the second elastic member is pre-compressed between the stepped surface and the ball seat shell.

[0013] Further, the adaptive adsorption assembly is provided with an encapsulation shell, and the two sets of clamping assemblies are fixedly connected to the two sides of the encapsulation shell respectively.

[0014] Further, the ball seat shell comprises a first shell and a second shell, the first shell is concentrically fixed inside the second shell, and an arc-shaped sealing layer is filled between the first shell and the second shell.

[0015] Compared with the prior art, the utility model has the following effects:

[0016] The utility model discloses a structure that integrates the adaptive adsorption assembly and the bidirectional positioning system, and drives the structure by a single lifting driving system, realizes the cooperative operation mode of flexible adsorption and bidirectional rigid centering, overcomes the friction force between the workpiece and the table, realizes the complete adhesion of the nozzle head and the workpiece, prevents the phenomenon that the workpiece falls in the adsorption process, and the rigid clamping realizes accurate centering, combines the flexibility of vacuum adsorption and the rigid positioning advantage of mechanical clamping, protects the workpiece and realizes the high repeat positioning accuracy.

[0017] The utility model discloses a nozzle head and a full metal frame structure, and constructs a complete, continuous low impedance conductive loop.The design ensures that the static charge possibly generated on the workpiece surface can be in real time, high efficiency guided away and discharged to the equipment grounding end in the whole process of sucking, carrying and placing the electrostatic sensitive component, fundamentally prevents the potential discharge (ESD) risk caused by static electricity accumulation, effectively avoids the implicit damage or direct failure of the component caused by static electricity breakdown, which not only significantly improves the safety of operation, but also provides reliable process guarantee for the high-end precision manufacturing field, helps to reduce the product failure rate and prolong the service life of the component.

[0018] The utility model adopts the highly integrated modular design, and realizes the full-flow automatic operation through the precise electrical sequence control, and the device has the advantages of simple structure, quick action response and short operation rhythm, and has high repeat positioning accuracy and long-term working reliability.The device can safely and efficiently process various precision, easily damaged and electrostatic sensitive micro workpieces, and meets the high speed, high reliability and high protection grade grabbing positioning requirements of modern intelligent manufacturing. DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor.

[0020] Fig. 1 It is a three-dimensional structure schematic diagram of the adaptive adsorption and bidirectional positioning device for power electronic components in the present application.

[0021] Fig. 2 It is a schematic diagram of the positional relationship of the lifting driving system, the adaptive adsorption assembly and the bidirectional positioning system in the present application.

[0022] Fig. 3 It is a structural schematic diagram of the adaptive adsorption assembly in the present application.

[0023] In the drawings:

[0024] 101, frame; 102, pipeline assembly; 103, working bottom plate;

[0025] 201, driving motor; 202, lifting seat; 203, guide column;

[0026] 301, positioning driving part; 302, positioning clamping jaw;

[0027] 401, vacuum connection pipe; 402, connection frame; 403, first elastic part; 404, ball seat shell; 405, universal ball head; 406, arc-shaped sealing layer; 407, second elastic part; 408, suction nozzle guide sleeve; 409, suction nozzle head;

[0028] 501, control box; 502, gas distribution valve; 503, vacuum generator. DETAILED DESCRIPTION

[0029] The technical solutions in the embodiments of the present application will be clearly and completely described in combination with the drawings in the embodiments of the present application. It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict, and the described embodiments are only some embodiments of the present application, not all embodiments.

[0030] In the description of the utility model, unless another definite provision and limitation, the term "link", "connection", "fix" should do broad sense understanding, for example, can be fixed connection, also can be detachable connection, or be integrated;Can be mechanical connection, also can be electrical connection;Can be directly connected, also can be indirectly connected through the intermediate medium, can be two elements inside the communication or two element's mutual action relation.For the ordinary skill in the art, the above-mentioned terms can be understood in the utility model with the concrete meaning of the specific situation.

[0031] Referring to the accompanying drawings Figs. 1-3 The utility model discloses a kind of adaptive adsorption and bidirectional positioning device for power electronic components, including frame 101, lifting drive system, adaptive adsorption component, bidirectional positioning system and control and gas path system, the lifting drive system bolt solid connection is in the top of the frame 101, the adaptive adsorption component is driven along vertical direction by the lifting drive system, the inside of the adaptive adsorption component is internal passage, the adaptive adsorption component includes vacuum connection pipe 401, ball seat shell 404, universal ball head 405, suction nozzle guide sleeve 408 and suction nozzle head 409, the vacuum connection pipe 401 is communicated and solidly connected with the ball seat shell 404, the universal ball head 405 is nested in the ball socket of the bottom of ball seat shell 404, and is communicated with the inside of ball seat shell 404, one end of the suction nozzle guide sleeve 408 is communicated and solidly connected with the universal ball head 405, its other end is fixedly connected with the suction nozzle head 409, the bidirectional positioning system includes two groups of clamping components, the two groups of clamping components are fixedly connected in the two sides of the adaptive adsorption component, each clamping component includes positioning drive part 301 and positioning clamping jaw 302, the positioning clamping jaw 302 is fixedly connected with the output end of the positioning drive part 301, the control and gas path system is solidly connected on the frame 101, the adsorption of the adaptive adsorption component and the clamping of the clamping component are controlled by the control and gas path system. Preferably, the positioning drive part 301 is double-acting cylinder.

[0032] The nozzle head 409 is made of conductive rubber material, and forms a continuous electrostatic discharge loop with the universal ball head 405, the ball seat shell 404, the vacuum connection pipe 401 and the external grounding wire. Static electricity can pass through the metal universal ball head 405, the metal ball seat shell 404 and the vacuum connection pipe 401 in sequence along the nozzle head 409, and finally be discharged to the ground through the external conductive grounding wire. Thus, a continuous conductive loop made of metal is formed, providing a reliable and low-impedance electrostatic discharge (ESD) protection path for sucking and handling power electronic components. The inner side of each positioning jaw 302 is attached with a scratch-proof soft material such as polyurethane or silicone. While providing a rigid positioning force, it avoids scratching or damaging the surface of the workpiece. The frame 101 serves as the mounting base of the entire device and can be fixed to the motion module at the end of the mechanical arm. The frame 101 is provided with a working base plate 103 below for supporting the workpiece to be processed. The frame 101 is integrated with a pipeline assembly 102 for laying out the gas circuit and electrical circuit.

[0033] The self-adaptive adsorption assembly is a core functional module for realizing flexible contact, angle compensation and multi-stage buffer protection. Its structural design follows the hierarchical principles of rigid gas circuit foundation, elastic overall suspension, self-adaptive angle adjustment and precise contact buffer. The vacuum connection pipe 401 is connected and fixed with the ball seat shell 404 through a mounting flange. This ensures the stability of the main gas circuit structure from the vacuum source to the nozzle, providing a reliable path for negative pressure transmission. At the same time, this design ensures that there is no relative movement between the ball seat shell 404 and the vacuum connection pipe 401, thereby ensuring that the center of rotation of the internal universal ball head 405 is highly coaxial with the vacuum channel axis, laying a precise mechanical foundation for subsequent self-adaptive angle compensation.

[0034] The self-adaptive adsorption assembly further includes a connecting frame 402, a plurality of first elastic members 403 and second elastic members 407. The connecting frame 402 is fixed to the peripheral side of the vacuum connection pipe 401, and a plurality of first elastic members 403 are fixed between the connecting frame 402 and the ball seat shell 404. The second elastic members 407 are sleeved on the peripheral side of the nozzle guide sleeve 408. The self-adaptive adsorption assembly has a universal ball head 405 angle compensation and a two-stage elastic buffer design. The universal ball head 405 cooperates with the arc-shaped sealing surface to enable the nozzle head 409 to adapt to uneven workpiece surfaces. The plurality of first elastic members 403 provide overall overload protection. The plurality of first elastic members 403 are pre-compressed, so that the entire ball seat shell 404 and all internal components are elastically suspended below the connecting frame 402. This structure constitutes a two-stage buffer mechanism: when the nozzle head 409 is subjected to accidental upward overload impact such as rigid collision with the workpiece or the table, the impact force will be transmitted to the ball seat shell 404 and compress the first elastic members 403, causing the entire ball seat assembly to move upward relative to the connecting frame 402, thereby absorbing large-stroke impact energy and effectively protecting the internal structure.

[0035] The lifting driving system comprises a driving motor 201, a lifting seat 202 and a guide column 203, the driving motor 201 is fixed on the frame 101, the output end of the driving motor 201 is fixedly connected with the lifting seat 202, the guide column 203 is fixedly connected with the frame 101 in the vertical direction, the lifting seat 202 is arranged on the guide column 203 and is in sliding connection with the guide column 203. Specifically, the driving motor 201 is fixed on the top of the frame 101 through a mounting seat, the push rod of the power output end of the driving motor 201 extends downward and is rigidly connected with the lifting seat 202 through a flange or a shaft coupling. A linear bearing is arranged in the lifting seat 202, the linear bearing ensures that the lifting seat 202 can perform high-precision reciprocating motion along the guide column 203 under the driving of the driving motor 201, thereby providing a stable and unique lifting power reference for the whole execution end.

[0036] The control and air path system comprises a control box 501, an air path distribution valve 502 and a vacuum generator 503, the vacuum generator 503 is in communication with the vacuum connection pipe 401, two gas outlets of the air path distribution valve 502 are respectively in communication with corresponding air inlets of the positioning driving members 301, and the driving motor 201, the vacuum generator 503 and the air path distribution valve 502 are controlled to move cooperatively through the control box 501. Specifically, two air inlets of the air path distribution valve 502 are in communication with external air sources, two gas outlets of the air path distribution valve 502 are fixedly connected to air inlets of two positioning driving members 301 in a parallel manner, thereby forming a positive pressure driving channel. The parallel air path design, in combination with high-precision air cylinders and guide rails, ensures that the two positioning clamping jaws 302 can realize strict synchronous movement towards or away from each other, which is the core control guarantee for realizing workpiece centering positioning. All pneumatic and electrical elements are centrally and coordinately controlled by the control box 501 at the top.

[0037] A vacuum hose is arranged in the internal channel, and two ends of the vacuum hose are respectively in communication with the inlet of the vacuum connection pipe 401 and the suction nozzle head 409. The flexible design of the vacuum hose ensures that the air path can still be kept unobstructed and sealed when the universal ball head 405 is adaptively deflected.

[0038] The outer peripheral surface of the connecting frame 402 is fixedly connected with the inner wall of the lifting seat 202.

[0039] The universal ball head 405 can be deflected in any direction around the center point and relative to the axis, and the deflection angle range is 0°-10°.

[0040] The end of the nozzle guide sleeve 408 is a stepped surface, and the second elastic member 407 is pre-compressed between the stepped surface and the ball seat shell 404. Preferably, the second elastic member 407 is a precision buffer spring. The second elastic member 407 constitutes a first-stage buffer mechanism, when the nozzle head 409 contacts the surface of the workpiece, the second elastic member 407 is further compressed, immediately absorbing the micro contact vibration and impact force, effectively preventing the bump on the surface of the precision workpiece.

[0041] The adaptive adsorption assembly is provided with an external cover, and the two sets of clamping assemblies are fixedly connected to the two sides of the external cover. Specifically, the two sets of clamping assemblies are fixed to the two sides of the external cover through mounting seats, and the mounting seats and the external cover are connected through positioning pins and bolts. This key mounting mode ensures that the bidirectional positioning system and the adaptive adsorption assembly are mechanically integrated, and the two are relatively fixed in space. Further, the driving axes of the positioning driving members 301 are accurately symmetrical, and the movement planes thereof are perpendicular to the central axis of the adaptive adsorption assembly. This structure integration is the basis for the bidirectional positioning function to be immediately and accurately executed after adsorption.

[0042] The ball seat shell comprises a first shell and a second shell, the first shell is concentrically fixed in the second shell, and an arc-shaped sealing layer 406 is filled between the first shell and the second shell. Specifically, the arc-shaped sealing layer 406 is made of a high-elastic wear-resistant material, and under a non-vacuum state, the moderate friction force provided by the arc-shaped sealing layer 406 allows the universal ball head 405 to freely deflect within a deflection angle range, so that the nozzle can adapt to the uneven workpiece surface and ensure that the end face is completely attached; after the vacuum adsorption is established, the negative pressure action increases the attachment pressure of the arc-shaped sealing layer 406, thereby providing additional rotary damping, and realizing the relative fixation of the angle after adsorption.

[0043] The specific working steps of the adaptive adsorption and bidirectional positioning device for power electronic components are as follows:

[0044] Step one: the control box 501 instructs the driving motor 201 to drive the lifting seat 202 to descend, and then the adaptive adsorption assembly and the bidirectional positioning system descend together. The nozzle head 409 first contacts the workpiece, the universal ball head 405 adapts to the angle of the workpiece surface, and the second elastic member 407 absorbs the contact impact, thereby completing the attitude leveling of the workpiece.

[0045] Step two: the vacuum generator 503 is started, and the workpiece is adsorbed and fixed through the negative pressure generated by the nozzle head 409. At this time, the workpiece has been reliably grabbed, but may not reach the accurate position required by the process due to placement deviation. The clamping jaws of the bidirectional positioning system are in an open state at this stage, avoiding the workpiece.

[0046] Step three: after confirming the firm adsorption, the control box 501 instructs the control gas path distribution valve 502 to act. The two positioning driving members 301 synchronously push the positioning clamping jaws 302 to close along the linear guide rails. Since the adsorption assembly has overcome the frictional force between the workpiece and the table, the profiled positioning surface of the clamping jaws can easily exert a horizontal pushing force on the side edge of the workpiece, and forcibly push the workpiece that has been adsorbed by the suction nozzle head 409 to the accurate central position of the two positioning clamping jaws 302, to complete the high-precision positioning;

[0047] Step four: after completing the positioning, the driving motor 201 drives the entire device to rise. After being moved to the target position, the release sequence ensures that the workpiece is placed stably: the gas path distribution valve 502 first acts to synchronously open the clamping jaws, to release the lateral positioning; then the vacuum generator 503 is closed, to release the adsorption; finally, the device is lifted.

[0048] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. An adaptive adsorption and bi-directional positioning device for power electronic components, characterized by: The utility model relates to a kind of adaptive suction assemblies, including frame (101), lifting drive system, adaptive suction assembly, two-way positioning system and control and gas path system, the lifting drive system bolt is connected to the top of the frame (101), the adaptive suction assembly is moved along vertical direction by the lifting drive system, the inside of the adaptive suction assembly is internal passage, the adaptive suction assembly includes vacuum connection pipe (401), ball seat shell (404), universal ball head (405), suction nozzle guide sleeve (408) and suction nozzle head (409), the vacuum connection pipe (401) is connected with the ball seat shell (404) and is fixedly connected, the universal ball head (405) is nested in the ball socket in the bottom of the ball seat shell (404), and is communicated with the inside of the ball seat shell (404), one end of the suction nozzle guide sleeve (408) is communicated and fixedly connected with the universal ball head (405), and the other end is fixedly connected with the suction nozzle head (409), the two-way positioning system includes two sets of clamping components, the two sets of clamping components are fixedly connected on the two sides of the adaptive suction assembly, each clamping component includes positioning drive (301) and positioning clamping jaw (302), the positioning clamping jaw (302) is fixedly connected with the output end of the positioning drive (301), the control and gas path system is fixedly connected on the frame (101), and the suction of the adaptive suction assembly and the clamping of the clamping component are controlled by the control and gas path system.

2. The adaptive adsorption and bi-directional positioning device for power electronic components according to claim 1, wherein: The adaptive suction assembly further includes connecting frame (402), a plurality of first elastic members (403) and second elastic members (407), the connecting frame (402) is fixedly connected on the circumferential side of the vacuum connection pipe (401), a plurality of first elastic members (403) are fixedly connected between the connecting frame (402) and the ball seat shell (404), and the second elastic members (407) are sleeved on the circumferential side of the suction nozzle guide sleeve (408).

3. The adaptive adsorption and bi-directional positioning device for power electronic components of claim 2, wherein: The lifting drive system includes drive motor (201), lifting seat (202) and guide column (203), the drive motor (201) is fixed on the frame (101), the output end of the drive motor (201) is fixedly connected with the lifting seat (202), the guide column (203) is fixedly connected with the frame (101) along vertical direction, and the lifting seat (202) is arranged on the guide column (203) and is slidably connected with the guide column (203).

4. The adaptive adsorption and bi-directional positioning device for power electronic components of claim 3, wherein: The control and gas path system includes control box (501), gas path distribution valve (502) and vacuum generator (503), the vacuum generator (503) is communicated with the vacuum connection pipe (401), two gas outlets of the gas path distribution valve (502) are communicated with corresponding air inlet of the positioning drive (301) respectively, and the drive motor (201), the vacuum generator (503) and the gas path distribution valve (502) are controlled by the control box (501) to act in concert.

5. The self-adaptive adsorption and bi-directional positioning device for power electronic components according to claim 1, wherein: A vacuum hose is arranged in the internal channel, and two ends of the vacuum hose are connected with an inlet of a vacuum connecting pipe (401) and a nozzle head (409) respectively.

6. The self-adaptive adsorption and bidirectional positioning device for power electronic components according to claim 3, characterized in that: An outer circumferential surface of the connecting frame (402) is fixedly connected with an inner wall of the lifting seat (202).

7. The self-adapting adsorption and bi-directional positioning device for power electronic components according to claim 1, wherein: The universal ball head (405) can be deflected in any direction around a center point and relative to an axis thereof, and a deflection angle range thereof is 0°-10°.

8. The adaptive adsorption and bi-directional positioning device for power electronic components of claim 2, wherein: An end of the nozzle guide sleeve (408) is a stepped surface, and the second elastic member (407) is pre-compressed between the stepped surface and the ball seat shell (404).

9. The self-adapting adsorption and bi-directional positioning device for power electronic components according to claim 1, wherein: The adaptive adsorption assembly is covered by a packaging shell, and the two groups of clamping assemblies are fixedly connected on two sides of the packaging shell respectively.

10. The self-adapting adsorption and bi-directional positioning device for power electronic components according to claim 1, wherein: The ball seat shell (404) comprises a first shell and a second shell, the first shell is concentrically fixed inside the second shell, and an arc-shaped sealing layer (406) is filled between the first shell and the second shell.

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