An IGBT module loading, bending and detecting mechanism

Abstract

The utility model discloses a kind of IGBT module feeding bending detection mechanism, including mechanism platform, feeding mechanism, material pipe turns up mechanism, material pipe slide, bending mechanism and discharge mechanism, the feeding mechanism is installed on mechanism platform, material pipe turns up mechanism is installed in one side of feeding mechanism, the upper end of material pipe slide is connected with material pipe turns up mechanism, the lower end of material pipe slide is connected with discharge mechanism, bending mechanism is installed in the middle of material pipe slide, to solve the low degree of automation, inaccurate pin quality detection, material pipe management is inconvenient and other problems in the existing technology IGBT module production line feeding, bending and detection process, by integrated design, realize the quick feeding of IGBT module, stable bending, accurate pin detection and automatic discharge, to significantly improve production efficiency, reduce defective rate, improve product quality, while reducing the labor intensity of operator, while avoiding the generation of debris, improve detection effect.

Description

Technical Field

[0001] This utility model relates to the field of automatic equipment technology, and in particular to an IGBT module feeding and bending detection mechanism. Background Technology

[0002] In the electronics manufacturing industry, IGBT modules are core components of power electronic devices, and their quality and performance are crucial to the operation of the entire device. The production of IGBT modules involves multiple processes, among which the loading and bending process is a critical step. Traditional IGBT module loading and bending operations rely heavily on manual labor, which is not only inefficient but also susceptible to human error, leading to inconsistent product quality. Of particular concern is that the traditional bending process uses a bending die to press and shape the leads, which can easily generate metal debris due to material compression. This debris may remain inside the module or in the lead gaps, posing a short-circuit risk or causing poor contact during long-term use, seriously threatening the product's reliability and lifespan.

[0003] To improve production efficiency, some automated IGBT module feeding and bending equipment has emerged on the market. However, these devices still have significant drawbacks: existing equipment often uses multi-axis robotic arms with complex transmission mechanisms, resulting in high debugging and maintenance costs and difficulty in adapting to rapid production changeover requirements; the detection of pin bending angles, heights, and coplanarity relies on traditional optical or mechanical probes, which are susceptible to environmental interference and have a high misjudgment rate, leading to defective products flowing into subsequent processes; some equipment has achieved automated bending, but still uses traditional die-cutting methods, which cannot avoid the fundamental defect of debris generation, requiring additional cleaning processes and further reducing overall efficiency; the feeding system of existing equipment has poor compatibility with material tubes, and problems such as jamming and stacking misalignment are prone to occur during transportation, making it difficult to meet the needs of high-speed continuous production.

[0004] To address the aforementioned issues, especially the debris contamination caused by traditional bending processes, the industry urgently needs an innovative solution. Therefore, this paper proposes an IGBT module loading and bending inspection mechanism that is structurally sound, easy to operate, provides accurate inspection, and eliminates debris contamination, in order to solve the aforementioned technical problems. Utility Model Content

[0005] The purpose of this invention is to solve the aforementioned technical problems by providing an IGBT module feeding, bending, and inspection mechanism. This invention addresses issues such as low automation, inaccurate pin quality detection, and inconvenient material management in existing IGBT module production lines. Through integrated design, it achieves rapid feeding, stable bending, accurate pin detection, and automatic unloading of IGBT modules, thereby significantly improving production efficiency, reducing defect rates, enhancing product quality, reducing operator workload, preventing debris generation, and improving inspection results.

[0006] The technical solution adopted by this utility model to solve the above-mentioned technical problems is: an IGBT module feeding and bending detection mechanism, including a mechanism platform, a feeding mechanism, a tube flipping mechanism, a tube slide, a bending mechanism and a discharging mechanism. The feeding mechanism is installed on the mechanism platform, the tube flipping mechanism is installed on one side of the feeding mechanism, the upper end of the tube slide is connected to the tube flipping mechanism, the lower end of the tube slide is connected to the discharging mechanism, and the bending mechanism is installed in the middle of the tube slide.

[0007] Preferably, the bending mechanism includes a first material separating mechanism, a clamping cutter, and a bending roller. The first material separating mechanism is installed on both sides of the material tube slide, the clamping cutter is installed below the first material separating mechanism, and the bending roller is installed below the clamping cutter. The first material separating mechanism and the clamping cutter are controlled by a spring mechanism, and the bending roller is controlled by another spring mechanism.

[0008] Preferably, the discharge mechanism includes a lead laser detection mechanism, an NG rejection mechanism, a second separating mechanism, and a discharge channel. The lead laser detection mechanism is located below the bending mechanism and is used to detect whether the IGBT module leads after bending by the bending mechanism are qualified. The NG rejection mechanism is installed below the lead laser detection mechanism and is used to send the unqualified IGBT modules detected by the lead laser detection mechanism into the NG channel below. The second separating mechanism is installed below the NG rejection mechanism and is used to position and transport qualified IGBT modules to the discharge channel. The discharge channel is installed on the side of the second separating mechanism.

[0009] Preferably, the second material separation mechanism includes module positioning blocks and a transport turntable. The transport turntable is rotated by a motor. Several module positioning blocks are evenly distributed on the edge of the transport turntable to simultaneously position the subsequently entering IGBT modules and transport the previous IGBT modules to the discharge channel.

[0010] Preferably, the pin line laser detection mechanism includes a line laser detector and a module blocking device. The line laser detector is installed above the feed tube slide, and the module blocking device is installed on the side of the feed tube slide to block the bent IGBT module and perform line laser detection.

[0011] Preferably, the module blocking device includes a first blocking block, a second spring rod, and a third spring rod. The first blocking block, the second spring rod, and the third spring rod operate sequentially. The first blocking block, the second spring rod, and the third spring rod are mounted on the same part. The rear ends of the first blocking block, the second spring rod, and the third spring rod are controlled sequentially by a motor and three cams at different angles.

[0012] Preferably, the feed tube chute includes a docking chute and a buffer chute. The front end of the buffer chute is connected to the docking chute, and the rear end is connected to the second material separating mechanism. The rear end of the docking chute is connected to the buffer chute, and the front end is connected to the feed tube flipping mechanism. It is used to receive the incoming IGBT module. The side of the buffer chute is provided with a working groove for blocking, fixing, or detecting the IGBT module.

[0013] Preferably, the tube lifting mechanism includes a tube feeding platform, a fixing cylinder, a lifting cylinder, and a pushing cylinder. The tube feeding platform is installed on the side of the feeding mechanism, the fixing cylinder is installed above the tube feeding platform to fix the tube on the tube feeding platform to ensure stability, and the lifting cylinder is installed below the tube feeding platform to lift the rear side of the tube on the tube feeding platform, which, together with the pushing cylinder behind, pushes the tube into the docking slide.

[0014] Preferably, the feeding mechanism includes a storage rack, a loading beam, and a transport platform. The transport platform is installed on the mechanism platform, and the loading beam is installed on the front and rear sides of the top of the transport platform. The loading beam is provided with several material pipe grooves. The transport platform moves back and forth under the control of a motor to cooperate with the material pipe grooves to transport the material pipes on the storage rack to the material pipe unloading platform in sequence.

[0015] Preferably, the buffer slide and the docking slide have an inclination angle, ranging from 30° to 45°, and the material tube and IGBT module in the slide have different automatic downward driving forces.

[0016] The beneficial effects of this utility model are:

[0017] 1. The bending mechanism of this utility model adopts a precise clamping tool and bending roller, combined with a spring mechanism control, to ensure the accuracy and consistency of IGBT module pin bending. The pin line laser detection mechanism can accurately detect whether the bent pins are qualified, and promptly remove unqualified products, thus ensuring the stability of product quality.

[0018] 2. The material tube tilting mechanism and material tube slide can flexibly accommodate IGBT modules of different models and specifications, improving the equipment's versatility and adaptability. The tilt angle design of the buffer slide and docking slide provides different automatic sliding forces for the material tube and IGBT module, further enhancing the equipment's flexibility. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0020] Figure 2 This is a schematic diagram of the feeding mechanism and the material tube flipping mechanism of this utility model;

[0021] Figure 3This is a schematic diagram of the first step in the operation of the bending mechanism of this utility model;

[0022] Figure 4 This is a schematic diagram of the second step of the bending mechanism of this utility model.

[0023] Figure 5 This is a schematic diagram of the third step of the bending mechanism of this utility model.

[0024] Figure 6 This is a structural schematic diagram of the material tube slide, bending mechanism, and discharge mechanism of this utility model.

[0025] In the diagram: 1. Mechanism platform; 2. Feeding mechanism; 21. Storage rack; 22. Loading beam; 23. Transport platform; 3. Material tube flipping mechanism; 31. Material tube unloading platform; 32. Fixing cylinder; 33. Flipping cylinder; 34. Pushing cylinder; 4. Material tube slide; 41. Docking slide; 42. Buffer slide; 5. Bending mechanism; 51. First material separation mechanism; 52. Clamping tool; 53. Bending roller; 6. Discharge mechanism; 61. Lead laser detection mechanism; 611. Line laser detector; 612. Module blocking device; 62. NG rejection mechanism; 63. Second material separation mechanism; 631. Module positioning block; 632. Transport turntable; 64. Discharge channel. Detailed Implementation

[0026] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0027] like Figure 1-6 As shown, this utility model discloses an IGBT module feeding and bending detection mechanism, which includes a mechanism platform 1, a feeding mechanism 2, a tube flipping mechanism 3, a tube slide 4, a bending mechanism 5, and a discharging mechanism 6. The feeding mechanism 2 is installed on the mechanism platform 1, the tube flipping mechanism 3 is installed on one side of the feeding mechanism 2, the upper end of the tube slide 4 is connected to the tube flipping mechanism 3, the lower end of the tube slide 4 is connected to the discharging mechanism 6, and the bending mechanism 5 is installed in the middle of the tube slide 4.

[0028] The bending mechanism 5 includes a first material separating mechanism 51, a clamping cutter 52, and a bending roller 53. The first material separating mechanism 51 is installed on both sides of the material tube slide 4, the clamping cutter 52 is installed below the first material separating mechanism 51, and the bending roller 53 is installed below the clamping cutter 52. The first material separating mechanism 51 and the clamping cutter 52 are controlled by a spring mechanism, and the bending roller 53 is controlled by another spring mechanism.

[0029] By adopting the above technical solution, the first material separation mechanism 51 is installed on both sides of the material tube slide 4. Its main function is to ensure that the IGBT module can be accurately positioned and isolated during the bending process, and to prevent the module from being misaligned or colliding with each other during the transmission process, thereby ensuring the accuracy and consistency of bending.

[0030] The clamping cutter 52 is located below the first material separation mechanism 51 and its movement is controlled by a spring mechanism. The spring mechanism provides the necessary clamping force to ensure that the IGBT module is stably clamped during the bending process.

[0031] The bending roller 53 is mounted below the clamping cutter 52 and is also controlled by a spring mechanism, allowing the bending roller to be flexibly adjusted according to the size and shape of the IGBT module to ensure the accuracy of the bending angle and shape.

[0032] The discharge mechanism 6 includes a lead laser detection mechanism 61, an NG rejection mechanism 62, a second separating mechanism 63, and a discharge channel 64. The lead laser detection mechanism 61 is located below the bending mechanism 5 and is used to detect whether the IGBT module leads after bending by the bending mechanism 5 are qualified. The NG rejection mechanism 62 is installed below the lead laser detection mechanism 61 and is used to send the unqualified IGBT modules detected by the lead laser detection mechanism 61 into the NG channel below. The second separating mechanism 63 is installed below the NG rejection mechanism 62 and is used to position and transport qualified IGBT modules to the discharge channel 64. The discharge channel 64 is installed on the side of the second separating mechanism 63.

[0033] By adopting the above technical solution, the lead laser inspection mechanism 61 can accurately detect whether the leads of the bent IGBT module are qualified. The non-contact inspection method can avoid module damage that may be caused by physical contact. Through high-precision quality inspection, it is ensured that only qualified IGBT modules can enter the next process. The NG rejection mechanism 62 can automatically send the unqualified IGBT modules detected by the lead laser inspection mechanism 61 into the NG channel below. The second separating mechanism 63 can accurately position and transport qualified IGBT modules to the discharge channel 64.

[0034] The second material separation mechanism 63 includes a module positioning block 631 and a transport turntable 632. The transport turntable 632 is rotated by a motor. Several module positioning blocks 631 are evenly distributed on the edge of the transport turntable 632 to simultaneously position the subsequently entering IGBT modules and transport the previous IGBT modules to the discharge channel 64.

[0035] By adopting the above technical solution, the module positioning blocks 631 are evenly distributed on the edge of the transport turntable 632, which can simultaneously position multiple subsequently entering IGBT modules. The rotation of the transport turntable 632 can smoothly transport the positioned IGBT modules to the discharge channel 64, realizing an efficient handling process.

[0036] The lead line laser detection mechanism 61 includes a line laser detector 611 and a module blocking device 612. The line laser detector 611 is installed above the feed tube slide 4, and the module blocking device 612 is installed on the side of the feed tube slide 4 to block the bent IGBT module and perform line laser detection.

[0037] By adopting the above technical solution, the line laser detector 611 utilizes the high brightness and high directionality of the laser beam to achieve high-precision detection of IGBT module pins. The laser beam can be accurately projected onto the pin surface, and the shape, size, and position of the pins can be detected by the change of reflected light, thereby ensuring that the processing quality of the pins meets the design requirements. The module blocking device 612 is installed on the side of the material tube slide to block the bent IGBT module and perform line laser detection.

[0038] The module blocking device 612 includes a first blocking block 6121, a second spring rod 6122, and a third spring rod 6123. The first blocking block 6121, the second spring rod 6122, and the third spring rod 6123 operate sequentially. The first blocking block 6121, the second spring rod 6122, and the third spring rod 6123 are mounted on the same part. The rear ends of the first blocking block 6121, the second spring rod 6122, and the third spring rod 6123 are controlled sequentially by a motor and three cams at different angles.

[0039] By adopting the above technical solution, the first blocking block 6121, the second spring rod 6122 and the third spring rod 6123 work in sequence to form a precise blocking sequence. When the IGBT module moves to the detection position, the first blocking block first performs preliminary positioning, and then the second spring rod and the third spring rod provide additional blocking force in sequence to prevent the module from shaking or moving during the detection process.

[0040] The design of the second spring rod 6122 and the third spring rod 6123 increases the adaptability of the device. The spring rods can provide a certain degree of buffering and adaptability, enabling the device to adapt to IGBT modules of different sizes and shapes.

[0041] The material tube slide 4 includes a docking slide 41 and a buffer slide 42. The front end of the buffer slide 42 is connected to the docking slide 41, and the rear end is connected to the second material separating mechanism 63. The rear end of the docking slide 41 is connected to the buffer slide 42, and the front end is connected to the material tube flipping mechanism 3. It is used to receive the incoming IGBT module. The side of the buffer slide 42 is provided with a working groove 43, which is used to block the IGBT module, fix the IGBT module, or detect the IGBT module.

[0042] By adopting the above technical solution, the docking slide 41 is connected to the material tube flipping mechanism 3, which can smoothly receive the IGBT module entering from the material tube flipping mechanism 3. When the IGBT module slides from the docking slide 41 into the buffer slide 42, it can slow down its downward speed, thereby avoiding damage to the module caused by impact. At the same time, the buffer slide 42 can also help the IGBT module to be initially positioned before entering the second material separation mechanism 63, which provides convenience for subsequent inspection and handling.

[0043] The working slot 43 is used to install blocking blocks to block the IGBT module so that the transmission of the module can be paused when needed; it can also be used to install spring rods to fix the IGBT module to ensure its stability during inspection and handling; in addition, the working slot 43 can also be used to install a line laser detector 611 to perform inspection work on the IGBT module, such as pin inspection and size measurement.

[0044] The tube lifting mechanism 3 includes a tube feeding platform 31, a fixing cylinder 32, a lifting cylinder 33, and a pushing cylinder 34. The tube feeding platform 31 is installed on the side of the feeding mechanism 2. The fixing cylinder 32 is installed above the tube feeding platform 31 to fix the tube on the tube feeding platform 31 to ensure stability. The lifting cylinder 33 is installed below the tube feeding platform 31 to lift the rear side of the tube on the tube feeding platform 31, and cooperates with the pushing cylinder 34 to push the tube into the docking slide 41.

[0045] By adopting the above technical solution, the material tube flipping mechanism 3 realizes the automated flipping and pushing of the material tube through the coordinated work of the fixed cylinder 32, the flipping cylinder 33 and the pushing cylinder 34. The fixed cylinder 32 is installed above the material tube feeding platform 31 to fix the material tube and ensure the stability of the material tube during the flipping and pushing process. The coordinated work of the flipping cylinder 33 and the pushing cylinder 34 ensures that they can be flipped up and pushed into the docking slide 41 smoothly.

[0046] The feeding mechanism 2 includes a storage rack 21, a loading beam 22 and a transport platform 23. The transport platform 23 is installed on the mechanism platform 1. The loading beam 22 is installed on the front and rear sides of the top of the transport platform 23. The loading beam 22 is provided with several material pipe grooves 24. The transport platform 23 moves back and forth under the control of a motor to cooperate with the material pipe grooves 24 to transport the material pipes on the storage rack 21 to the material pipe unloading platform 31 in sequence.

[0047] By adopting the above technical solution, the forward and backward movement of the conveyor table 23 is controlled by a motor, and in conjunction with the material tube grooves 24 on the loading beam 22, the material tubes on the storage rack 21 are automatically transported sequentially to the material tube unloading platform 31. This reduces the complexity and time consumption of manual operation, and improves the automation and efficiency of material loading. The material tube grooves 24 ensure that the material tubes can be placed and transported stably, avoiding shaking or falling during transportation. At the same time, the motor-controlled conveyor table 23 can achieve precise positioning, ensuring that the material tubes can be accurately placed in the predetermined position on the material tube unloading platform 31. The loading beam 22 is equipped with several material tube grooves 24, which can handle multiple material tubes at the same time, thus improving production efficiency.

[0048] The buffer slide 42 and the docking slide 41 have an inclination angle, ranging from 30° to 45°, and the material tube and IGBT module used in the slide have different automatic downward sliding power.

[0049] By adopting the above technical solution, the tilt angle design also helps to reduce material accumulation in the chute. Since the material can slide down automatically, it is less likely to accumulate in the chute, which helps maintain the smoothness of the production line and reduces production interruptions caused by material buildup.

[0050] In a specific implementation of this utility model, the IGBT module is placed in the material tube on the storage rack 21. The storage rack 21 can store multiple material tubes, and each material tube contains multiple IGBT modules. The feeding mechanism 2 is started, and the motor drives the conveyor table 23 to move back and forth. The material tube groove 24 on the loading beam 22 is aligned with the material tube on the storage rack 21. Then the conveyor table 23 transports the material tubes to the material tube unloading platform 31 in sequence.

[0051] When the tube is transported to the tube feeding platform 31, the fixing cylinder 32 is activated to fix the tube on the feeding platform to ensure its stability during the flipping and pushing process. The flipping cylinder 33 is activated to lift the rear side of the tube on the tube feeding platform 31, and at the same time, the pushing cylinder 34 is activated to push the tube into the docking slide 41.

[0052] The IGBT module slides from the docking slide 41 into the buffer slide 42. Inside the buffer slide 42, the IGBT module is initially positioned. When the IGBT module slides to the position of the bending mechanism 5, the first material separation mechanism 51 is activated to accurately position and isolate the IGBT module, preventing misalignment or collision during transmission. The clamping cutter 52 provides the necessary clamping force through the spring mechanism to ensure that the IGBT module is stably clamped during bending. The bending roller 53 bends the pins of the IGBT module.

[0053] After bending, the IGBT module continues to slide down to the position of the pin line laser detection mechanism 61. The module blocking device 612 is activated, the first blocking block 6121 performs initial positioning, and then the second spring rod 6122 and the third spring rod 6123 provide additional blocking force in sequence. The line laser detector 611 uses a laser beam to perform high-precision detection on the pins of the IGBT module to ensure that the processing quality of the pins meets the design requirements.

[0054] After the pin detection is qualified, the IGBT module continues to slide down to the position of the second separating mechanism 63. The module positioning block 631 of the second separating mechanism 63 precisely positions the IGBT module. The transport turntable 632 rotates under motor control, smoothly transporting the positioned IGBT module to the discharge channel 64. IGBT modules that fail the pin detection are sent to the NG channel below by the NG rejection mechanism 62.

[0055] The various embodiments in the specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0056] The above description of the disclosed embodiments enables those skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An IGBT module feeding and bending detection mechanism, comprising a mechanism platform (1), a feeding mechanism (2), a tube flipping mechanism (3), a tube slide (4), a bending mechanism (5), and a discharging mechanism (6), characterized in that: The feeding mechanism (2) is installed on the mechanism platform (1), the material tube flipping mechanism (3) is installed on one side of the feeding mechanism (2), the upper end of the material tube slide (4) is connected to the material tube flipping mechanism (3), the lower end of the material tube slide (4) is connected to the discharge mechanism (6), and the bending mechanism (5) is installed in the middle of the material tube slide (4).

2. The IGBT module feeding and bending detection mechanism according to claim 1, characterized in that: The bending mechanism (5) includes a first material separating mechanism (51), a clamping cutter (52), and a bending roller (53). The first material separating mechanism (51) is installed on both sides of the material tube slide (4), the clamping cutter (52) is installed below the first material separating mechanism (51), and the bending roller (53) is installed below the clamping cutter (52). The first material separating mechanism (51) and the clamping cutter (52) are controlled by a spring mechanism, and the bending roller (53) is controlled by another spring mechanism.

3. The IGBT module feeding and bending detection mechanism according to claim 1, characterized in that: The discharge mechanism (6) includes a lead laser detection mechanism (61), an NG rejection mechanism (62), a second material separation mechanism (63), and a discharge channel (64). The lead laser detection mechanism (61) is located below the bending mechanism (5) and is used to detect whether the IGBT module leads after bending by the bending mechanism (5) are qualified. The NG rejection mechanism (62) is installed below the lead laser detection mechanism (61) and is used to send the unqualified IGBT modules detected by the lead laser detection mechanism (61) into the NG channel below. The second material separation mechanism (63) is installed below the NG rejection mechanism (62) and is used to position and transport qualified IGBT modules to the discharge channel (64). The discharge channel (64) is installed on the side of the second material separation mechanism (63).

4. The IGBT module feeding and bending detection mechanism according to claim 3, characterized in that: The second material separation mechanism (63) includes a module positioning block (631) and a transport turntable (632). The transport turntable (632) is rotated by a motor. Several module positioning blocks (631) are evenly distributed on the edge of the transport turntable (632) to simultaneously position the IGBT modules that enter later and transport the previous IGBT modules to the discharge channel (64).

5. The IGBT module feeding and bending detection mechanism according to claim 3, characterized in that: The pin line laser detection mechanism (61) includes a line laser detector (611) and a module blocking device (612). The line laser detector (611) is installed above the feed tube slide (4), and the module blocking device (612) is installed on the side of the feed tube slide (4) to block the bent IGBT module and perform line laser detection.

6. The IGBT module feeding and bending detection mechanism according to claim 5, characterized in that: The module blocking device (612) includes a first blocking block (6121), a second spring rod (6122), and a third spring rod (6123). The first blocking block (6121), the second spring rod (6122), and the third spring rod (6123) work sequentially. The first blocking block (6121), the second spring rod (6122), and the third spring rod (6123) are mounted on the same part. The rear ends of the first blocking block (6121), the second spring rod (6122), and the third spring rod (6123) are controlled sequentially by a motor and three cams at different angles.

7. The IGBT module feeding and bending detection mechanism according to claim 1 or 3, characterized in that: The material tube slide (4) includes a docking slide (41) and a buffer slide (42). The front end of the buffer slide (42) is connected to the docking slide (41), and the rear end is connected to the second material separating mechanism (63). The rear end of the docking slide (41) is connected to the buffer slide (42), and the front end is connected to the material tube flipping mechanism (3) for receiving the incoming IGBT module. The side of the buffer slide (42) is provided with a working groove (43) for blocking, fixing, or detecting the IGBT module.

8. The IGBT module feeding and bending detection mechanism according to claim 7, characterized in that: The tube lifting mechanism (3) includes a tube feeding platform (31), a fixing cylinder (32), a lifting cylinder (33), and a pushing cylinder (34). The tube feeding platform (31) is installed on the side of the feeding mechanism (2). The fixing cylinder (32) is installed above the tube feeding platform (31) to fix the tube on the tube feeding platform (31) to ensure stability. The lifting cylinder (33) is installed below the tube feeding platform (31) to lift the rear side of the tube on the tube feeding platform (31) and cooperate with the pushing cylinder (34) to push the tube into the docking slide (41).

9. The IGBT module feeding and bending detection mechanism according to claim 1 or 8, characterized in that: The feeding mechanism (2) includes a storage rack (21), a loading beam (22) and a transport platform (23). The transport platform (23) is installed on the mechanism platform (1). The loading beam (22) is installed on the front and rear sides of the top of the transport platform (23). The loading beam (22) is provided with several material pipe grooves (24). The transport platform (23) moves back and forth in coordination with the material pipe grooves (24) through the motor to transport the material pipes on the storage rack (21) to the material pipe unloading platform (31) in sequence.

10. The IGBT module feeding and bending detection mechanism according to claim 7, characterized in that: The buffer slide (42) and docking slide (41) have an inclination angle, ranging from 30° to 45°, and the material tube and IGBT module in the slide have different automatic downward sliding power.

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