Rotary robot and conveyor line for igbt module handling

Abstract

A rotary manipulator and a conveyor line for handling IGBT modules include: a support base, a rotating mechanism, and an extension arm. The rotating mechanism drives the extension arm to rotate around a rotation axis. Two first linear drive mechanisms are located on both sides of the rotation axis and connected to the extension arm. The first linear drive mechanisms are arranged vertically and located on a diameter of the rotation trajectory of the extension arm. The two first linear drive mechanisms are equidistant from the rotation axis. A pair of gripper mechanisms are located below the extension arm and are respectively installed on the moving end of one of the first linear drive mechanisms. When the gripper mechanisms are in the handling position, they are both located directly above a storage position. One gripper mechanism releases the product, and the other gripper grasps the product. When the gripper mechanisms are in the avoidance position, the gripper mechanisms and the first linear drive mechanisms avoid the upper space of the storage position, realizing the handling of items between the two positions. This avoids the use of other conveyor mechanisms and facilitates the maintenance of equipment in the conveyor line.

Description

Technical Field

[0001] This utility model relates to the field of automated material handling technology, and in particular to a rotary manipulator and a conveyor line for handling IGBT modules. Background Technology

[0002] A robotic arm is a commonly used material handling device in the field of automation. It typically moves objects in space by moving the gripper in multiple directions. Among them, three-axis or two-axis robotic arms are widely used due to their flexibility in the moving end.

[0003] Since the aforementioned robotic arms typically require linear modules to achieve changes in the horizontal position of the moving end, support structures are needed at both ends of the linear module for fixed installation. For linear modules that need to move, they need to be slidably mounted on the support structure, resulting in a large space occupied by the robotic arm mounting structure. In cases where it needs to be used in conjunction with other two-axis robotic arms or where the production line requires sufficient maintenance space, the robotic arm mounting structure may interfere with the requirements and fail to meet the requirements. Utility Model Content

[0004] In response to the shortcomings of the existing production technology, the applicant provides a rotary manipulator and a conveyor line for handling IGBT modules, thereby enabling the handling of items between two locations, avoiding the use of other conveying mechanisms, reducing the space occupied by the manipulator installation structure, and facilitating the maintenance of equipment in the conveyor line.

[0005] The technical solution adopted in this utility model is as follows:

[0006] A rotary manipulator, comprising:

[0007] Support base;

[0008] A rotating mechanism is installed at the upper end of the support base;

[0009] An extension arm is fixedly connected to the output end of the rotating mechanism, allowing the extension arm to rotate about a rotation axis, which is in the vertical direction.

[0010] A pair of first linear drive mechanisms are connected to the extension arm. The moving end of the first linear drive mechanism moves in the vertical direction. The two first linear drive mechanisms are located on both sides of the rotation axis and on a diameter of the rotation trajectory of the extension arm. The two first linear drive mechanisms are equidistant from the rotation axis.

[0011] A pair of gripper mechanisms are located below the extension arm and are respectively installed on the moving end of a first linear drive mechanism. The gripper mechanisms are used to grip products, and two storage stations for placing products are provided below the gripper mechanisms.

[0012] The rotating mechanism drives the extension arm to rotate and change the position of the gripper mechanism. When the gripper mechanism is in the transport position, it is located directly above a storage station. One gripper mechanism releases the product, and the other gripper grabs the product. When the gripper mechanism is in the avoidance position, the gripper mechanism and the first linear drive mechanism avoid the upper space of the storage station.

[0013] As a further improvement to the above technical solution:

[0014] When the gripper mechanism switches between the transport position and the avoidance position, the extension arm rotates at an angle of 90°.

[0015] It also includes a pair of telescopic frames and a pair of second linear drive mechanisms;

[0016] Two telescopic frames are slidably mounted on the extension arm, each corresponding to one of the first linear drive mechanisms. The telescopic frames are fixedly connected to the mounting ends of the first linear drive mechanisms, and the sliding direction of the two telescopic frames is the same as the direction of the diameter.

[0017] The second linear drive mechanism connects the telescopic frame to the extension arm and is used to drive the telescopic frame to slide relative to the extension arm.

[0018] When the gripper mechanism is located at the transport station, the distance between the first linear drive mechanism and the rotation axis is A. When the gripper mechanism is located at the clearance position, the distance between the first linear drive mechanism and the rotation axis is B, where A > B.

[0019] The second linear drive mechanism is a cylinder, and a connecting seat is fixed on the upper surface of the extension arm corresponding to the rotation axis;

[0020] The telescopic frame is plate-shaped. The cylinder of the second linear drive mechanism is fixedly connected to the upper surface of the telescopic frame, the lower surface of the telescopic frame is slidably connected to the extension arm, and the end of the piston rod of the second linear drive mechanism is fixedly connected to the connecting seat.

[0021] The first linear drive mechanism is a three-axis guide rod cylinder.

[0022] The gripper mechanism includes an electric gripper mounted on the moving end of the first linear drive mechanism. Each moving end of the electric gripper is equipped with a clamping element that matches the product. The clamping element grips and releases the product from both sides under the drive of the electric gripper.

[0023] The rotating mechanism includes a motor and a hollow rotating platform, both fixedly mounted on the support base. The output end of the motor is connected to the input shaft of the hollow rotating platform, and the rotating end of the hollow rotating platform is fixedly connected to the extension arm.

[0024] The support base includes a base plate on which a plurality of spaced-apart support columns are fixedly installed. It also includes a top plate located above the support columns and fixedly connected to the plurality of support columns. The rotating mechanism is fixedly installed on the top plate.

[0025] A conveyor line for handling IGBT modules includes two dual transfer platforms arranged side by side, each dual transfer platform corresponding to one test station. The two test stations are arranged in the same way as the two dual transfer platforms. Each dual transfer platform includes two positioning seats that can be alternately moved to the test station. The positioning seats are used to place products, the products being IGBT modules.

[0026] The conveyor line also includes any of the aforementioned rotary manipulators located between the two dual transfer platforms, and the arrangement direction of the two storage stations is the same as that of the dual transfer platforms.

[0027] Each dual transfer platform has a dual-axis robotic arm on the side away from the test station. The dual-axis robotic arm includes a lateral transfer mechanism and a longitudinal transfer mechanism installed on the moving end of the lateral transfer mechanism. The moving end of the longitudinal transfer mechanism is equipped with a transport gripper. The transport gripper is used for linear sequential transport between the storage station, the positioning seat located outside the test station, and the docking station. The docking station and the storage station are located on opposite sides of the dual transfer platform, respectively.

[0028] As a further improvement to the above technical solution:

[0029] Both the transverse transfer mechanism and the longitudinal transfer mechanism are linear modules, and the structure of the transport gripper is the same as that of the gripper mechanism.

[0030] The beneficial effects of this utility model are as follows:

[0031] This utility model has a compact and reasonable structure and is easy to operate. By using an extension arm to suspend and support the arms of two rotating manipulators, and using a rotating mechanism to drive the extension arm to rotate, the positions of the two gripper mechanisms are switched synchronously. This allows the products to be transported between two storage stations while ensuring the conveying cycle time. It can also avoid the use of other conveying mechanisms, reduce the space occupied by the manipulator installation structure, and facilitate the maintenance of equipment in the conveyor line.

[0032] This utility model also has the following advantages:

[0033] (1) By setting a telescopic frame on the extension arm and driving the telescopic frame to move the first linear drive mechanism closer to and away from the axis of rotation, the space occupied by the rotary manipulator gripper mechanism when it is in the avoidance position is further reduced, making the overall conveyor line more compact.

[0034] (2) By stacking the extension arm, telescopic frame and second linear drive mechanism upwards in sequence, the structure of the rotary manipulator is made more compact and occupies less space in the horizontal direction.

[0035] (3) A hollow rotating platform is used as the transmission connection structure between the motor and the extension arm of the rotating mechanism. At the same time, the extension arm is rotatably connected to the support base, making the rotating mechanism compact and easy to assemble.

[0036] (3) A rotary manipulator is set between the two dual transfer platforms, and a dual-axis manipulator is used in conjunction with the corresponding dual transfer platform to realize the transfer and conveying of products between the two test stations, ensure the conveying cycle of the conveying line, and realize the effective connection between multiple conveying mechanisms to meet the needs of test equipment maintenance space. Attached Figure Description

[0037] Figure 1 This is a perspective view of the rotary manipulator of this utility model.

[0038] Figure 2 This is the front view of the rotary manipulator of this utility model.

[0039] Figure 3 This is a top view of the rotary manipulator of this utility model (the gripper mechanism is located in two different positions).

[0040] Figure 4 This is a perspective view of the conveyor line diagram for handling IGBT modules according to this utility model.

[0041] Figure 5 for Figure 4 Enlarged view of a section at point E in the middle.

[0042] Figure 6 This is a top view of the conveyor line diagram for handling IGBT modules according to this utility model (with the telescopic frame extended).

[0043] Figure 7 This is a top view of the conveyor line diagram for transporting IGBT modules according to this utility model (when the telescopic frame is retracted).

[0044] in:

[0045] 1. Support base; 11. Top plate; 12. Support column; 13. Base plate;

[0046] 2. Products; 20. Storage stations;

[0047] 3. Gripping mechanism; 31. Electric gripper; 32. Clamping component;

[0048] 4. First linear drive mechanism; 5. Telescopic frame; 6. Second linear drive mechanism;

[0049] 7. Extension arm; 70. Rotation axis; 71. Connecting seat;

[0050] 8. Rotating mechanism; 81. Motor; 82. Hollow rotating platform;

[0051] 9. Dual transfer platform; 91. Positioning seat;

[0052] 10. Dual-axis robotic arm; 101. Lateral transfer mechanism; 102. Longitudinal transfer mechanism; 103. Handling gripper;

[0053] C. Testing station; D. Connection station. Detailed Implementation

[0054] The specific embodiments of this utility model are described below with reference to the accompanying drawings.

[0055] like Figures 1-3 As shown, a rotary manipulator provided in one embodiment of this application includes: a support base 1, a rotary mechanism 8, an extension arm 7, a pair of first linear drive mechanisms 4, and a pair of gripper mechanisms 3.

[0056] Rotating mechanism 8 is installed on the upper end of support base 1;

[0057] The extension arm 7 is fixedly connected to the output end of the rotating mechanism 8, so that the extension arm 7 rotates about the rotation axis 70 as the center, and the rotation axis 70 is in the vertical direction;

[0058] A pair of first linear drive mechanisms 4 are both connected to the extension arm 7. The moving end of the first linear drive mechanism 4 moves in the vertical direction. The two first linear drive mechanisms 4 are located on both sides of the rotation axis 70 and on a diameter of the rotation trajectory of the extension arm 7. The two first linear drive mechanisms 4 are equidistant from the rotation axis 70.

[0059] A pair of gripper mechanisms 3 are located below the extension arm 7 and are respectively installed on the moving end of a first linear drive mechanism 4. The gripper mechanisms 3 are used to grip the product 2. Two storage stations 20 for placing the product 2 are provided below the gripper mechanisms 3.

[0060] Among them, the rotating mechanism 8 drives the extension arm 7 to rotate and change the position of the gripper mechanism 3. When the gripper mechanism 3 is in the transport position, the gripper mechanism 3 is located directly above a storage station 20. One gripper mechanism 3 releases the product 2, and the other gripper grabs the product 2. When the gripper mechanism 3 is in the avoidance position, the gripper mechanism 3 and the first linear drive mechanism 4 avoid the upper space of the storage station 20.

[0061] Specifically, such as Figures 1-3 As shown, the support base 1 is fixedly mounted on a platform, and the storage station 20 is mounted on the platform, positioned lower than the gripper mechanism 3. When the gripper mechanism 3 is in the transport position, it is directly above the storage station 20. At this time, the left gripper mechanism 3 releases the product 2 onto the storage station 20, and the right gripper mechanism 3 picks up the product 2 from the storage station 20. When the gripper mechanism 3 is in the clearance position, it rotates to a position away from the storage station 20. Specifically, it can be as follows: Figure 3 As shown by the dotted line, at this time, product 2 on the left storage station 20 can be grabbed by other conveying mechanisms, and product 2 is repositioned on the right storage station 20 by other conveying mechanisms. This process is repeated to transfer product 2 between the two conveying mechanisms in the conveyor line.

[0062] The two first linear drive mechanisms 4 are located on a diameter of the rotation trajectory of the extension arm 7. The two first linear drive mechanisms 4 are equidistant from the rotation axis 70, meaning that after the extension arm 7 rotates 180°, the positions of the two first linear drive mechanisms 4 are the same, corresponding to the two storage stations 20, which facilitates the positioning, gripping, and release of the product 2. Figure 3 As shown.

[0063] In addition, the first linear drive mechanism 4 and the gripper mechanism 3 form the arm of the rotary manipulator; the support base 1 suspends and supports the first linear drive mechanism 4 in the direction perpendicular to the platform upward through the extension arm 7, so that the support part of the manipulator is only located in the middle position of the manipulator. By rotating the extension arm 7 to different positions, space avoidance can be achieved, which meets the space requirements of automated connection and equipment maintenance.

[0064] By using an extension arm 7 to suspend and support the arms of two rotating robotic arms, and using a rotating mechanism 8 to drive the extension arm 7 to rotate, the positions of the two gripper mechanisms 3 are switched synchronously, so that the product 2 can be transported between the two storage stations 20 while ensuring the conveying cycle. It can also avoid the use of other conveying mechanisms, reduce the space occupied by the robotic arm installation structure, and facilitate the maintenance of equipment in the conveying line.

[0065] For example, when the position of the gripper mechanism 3 switches between the transport position and the avoidance position, the rotation angle of the extension arm 7 is 90°.

[0066] like Figures 1-3As shown, in another exemplary embodiment, the rotary manipulator also includes a pair of telescopic frames 5 and a pair of second linear drive mechanisms 6;

[0067] Two telescopic frames 5 are slidably mounted on the extension arm 7, each corresponding to a first linear drive mechanism 4. The telescopic frames 5 are fixedly connected to the mounting end of the first linear drive mechanism 4, and the sliding direction of the two telescopic frames 5 is the same as the direction of the aforementioned diameter.

[0068] The second linear drive mechanism 6 connects the telescopic frame 5 to the extension arm 7 and is used to drive the telescopic frame 5 to slide relative to the extension arm 7.

[0069] When the gripper mechanism 3 is in the handling station, the distance between the first linear drive mechanism 4 and the rotation axis 70 is A. When the gripper mechanism 3 is in the clearance position, the distance between the first linear drive mechanism 4 and the rotation axis 70 is B, where A > B.

[0070] Specifically, the two second linear drive mechanisms 6 drive the two telescopic frames 5 to extend or retract synchronously, causing the first linear drive mechanism 4 to move closer to and further away from each other along the line connecting the two, such as... Figure 3 As shown; when it is necessary to place the gripper mechanism 3 in the avoidance position, the second linear drive mechanism 6 is activated to retract the telescopic frame 5, and then the rotation mechanism 8 is activated to drive the extension arm 7 to rotate.

[0071] By setting a telescopic frame 5 on the extension arm 7 and driving the telescopic frame 5 to move the first linear drive mechanism 4 closer to and away from the rotation axis 70, the space occupied by the rotary manipulator gripper mechanism 3 when it is in the avoidance position is further reduced, making the overall conveyor line more compact.

[0072] In another exemplary embodiment, such as Figure 1 As shown, the second linear drive mechanism 6 is a cylinder, and a connecting seat 71 is fixed on the upper surface of the extension arm 7 corresponding to the rotation axis 70.

[0073] The telescopic frame 5 is plate-shaped. The cylinder of the second linear drive mechanism 6 is fixedly connected to the upper surface of the telescopic frame 5, the lower surface of the telescopic frame 5 is slidably connected to the extension arm 7, and the end of the piston rod of the second linear drive mechanism 6 is fixedly connected to the connecting seat 71.

[0074] Specifically, the lower surface of the telescopic frame 5 and the extension arm 7 are slidably connected via a slide rail slider structure, such as... Figure 1 As shown.

[0075] By stacking the extension arm 7, telescopic frame 5, and second linear drive mechanism 6 sequentially upwards, the structure of the rotary manipulator becomes more compact, occupying less space in the horizontal direction.

[0076] For example, the first linear drive mechanism 4 is a three-axis guide rod cylinder. This simplifies the structure of the first linear drive mechanism 4 and reduces costs.

[0077] For example, the gripper mechanism 3 includes an electric gripper 31 mounted on the moving end of the first linear drive mechanism 4. Each movable end of the electric gripper 31 is equipped with a clamping element 32 that matches the product 2. Driven by the electric gripper 31, the clamping element 32 grips and releases the product 2 from both sides. The use of the electric gripper 31 improves the precision of the product 2.

[0078] In another exemplary embodiment, such as Figure 2 As shown, the rotating mechanism 8 includes a motor 81 and a hollow rotating platform 82, both of which are fixedly mounted on the support base 1. The output end of the motor 81 is connected to the input shaft of the hollow rotating platform 82, and the rotating end of the hollow rotating platform 82 is fixedly connected to the extension arm 7.

[0079] The hollow rotating platform 82 is a commercially available product. It is used as the transmission connection structure between the motor 81 and the extension arm 7 of the rotating mechanism 8. At the same time, the extension arm 7 is rotatably connected to the support base 1, making the rotating mechanism 8 compact and easy to assemble.

[0080] For example, such as Figure 1 As shown, the support base 1 includes a base plate 13, on which a plurality of spaced-apart support columns 12 are fixedly installed. It also includes a top plate 11 located above the support columns 12 and fixedly connected to the plurality of support columns 12. A rotating mechanism 8 is fixedly installed on the top plate 11. The hollow support base 1 facilitates the installation and maintenance of the rotating mechanism 8. The hollow rotating platform 82 is fixedly installed on the top plate 11.

[0081] like Figures 4-7 As shown, in an exemplary embodiment, this application provides a conveyor line for transporting IGBT modules. The conveyor line includes two dual transfer platforms 9 arranged side by side. Each dual transfer platform 9 corresponds to one test station C. The arrangement of the two test stations C is the same as the arrangement of the two dual transfer platforms 9. Each dual transfer platform 9 includes two positioning seats 91 that can be alternately moved to the test station C. The positioning seats 91 are used to place the product 2, which is an IGBT module.

[0082] The conveyor line also includes a rotary manipulator of any of the above embodiments located between the two dual transfer platforms 9, and the arrangement direction of the two storage stations 20 is the same as the arrangement of the dual transfer platforms 9;

[0083] Each dual transfer platform 9 has a dual-axis robotic arm 10 on the side opposite to the test station C. The dual-axis robotic arm 10 includes a lateral transfer mechanism 101 and a longitudinal transfer mechanism 102 installed on the moving end of the lateral transfer mechanism 101. The moving end of the longitudinal transfer mechanism 102 is equipped with a transport gripper 103. The transport gripper 103 is used for linear sequential transport between the storage station 20, the positioning seat 91 located outside the test station C, and the docking station D. The docking station D and the storage station 20 are located on opposite sides of the dual transfer platform 9.

[0084] Among them, the dual transfer platform 9 is a prior art that has been disclosed, see patent document CN119460684A. The detailed structure will not be described here. Since the dual transfer platform 9 has two positioning seats 91 that alternately transport the product 2 to the test station C, in the automated conveyor line, each dual transfer platform 9 needs to be equipped with a conveying mechanism to move the product 2 into and out of the dual transfer platform 9, and to meet the handling needs of the two positioning seats 91.

[0085] Furthermore, since the same IGBT module requires dynamic testing before static testing, and maintenance space must be maintained between the test devices corresponding to the two test stations C, and the handling frequency of product 2 on the dual transfer platforms 9 is also relatively high, the IGBT module handling conveyor line in this embodiment is equipped with a dual-axis robotic arm 10 for each dual transfer platform 9, and a rotary robotic arm is set between the two dual transfer platforms 9. The arrangement direction of the two storage stations 20 is the same as the arrangement of the dual transfer platforms 9. Compared with setting a three-axis robotic arm or a dual-axis robotic arm between the two dual transfer platforms 9, the rotary robotic arm occupies less space.

[0086] For example, both the transverse transfer mechanism 101 and the longitudinal transfer mechanism 102 are linear modules, and the structure of the transport gripper 103 is the same as that of the gripper mechanism 3.

[0087] Specifically, storage station 20 is a product holder for temporarily placing product 2. Additionally, product holders can also be placed at connection station D. Linear sequential handling means that the storage station 20 (which the handling gripper 103 can grasp), the positioning seat 91 located outside the testing station C, and the connection station D are all located in the same row. The stroke of the transverse transfer mechanism 101 can cover these positions, thus reducing the degree of freedom of movement of the conveying mechanism equipped on the dual transfer platforms 9 and lowering the overall cost of the conveyor line. A rotary manipulator is installed between the two dual transfer platforms 9 to coordinate and connect the two platforms. The dual-axis robotic arm 10 of the transfer platform 9 moves the product 2 from one storage station 20 to another storage station 20, realizing the transfer of the product 2 to be tested between the two test stations C. The rotating robotic arm can also avoid the upper space of the storage station 20. The product 2 on the left storage station 20 can be grasped by the dual-axis robotic arm 10, and the product 2 on the right storage station 20 can be repositioned by another dual-axis robotic arm 10. This process is repeated to realize the transfer of the product 2 between the two dual transfer platforms 9 in the conveyor line. The two docking stations D are respectively connected to other conveying mechanisms.

[0088] A rotary manipulator is set between the two dual transfer platforms 9, and works in conjunction with the dual-axis manipulator 10 corresponding to each dual transfer platform 9 to realize the transfer and conveying of product 2 between the two test stations C, ensuring the conveying cycle of the conveyor line, and realizing the effective connection between multiple conveying mechanisms to meet the maintenance space requirements of the test equipment.

[0089] To make the overall conveyor line more compact, it is preferable to use a rotary manipulator with a telescopic frame 5 and a second linear drive mechanism 6. When the gripper mechanism 3 is in the avoidance position, the distance between the two first linear drive mechanisms 4 is reduced.

[0090] The above description is an explanation of the present utility model and not a limitation thereof. The scope of the present utility model is defined by the claims. Within the protection scope of the present utility model, any form of modification may be made.

Claims

1. A rotary manipulator, characterized in that: include: Support base (1); A rotating mechanism (8) is installed at the upper end of the support base (1); The extension arm (7) is fixedly connected to the output end of the rotating mechanism (8), so that the extension arm (7) rotates around the rotation axis (70) as the center, and the rotation axis (70) is in the vertical direction; A pair of first linear drive mechanisms (4) are connected to the extension arm (7). The moving end of the first linear drive mechanism (4) moves in the vertical direction. The two first linear drive mechanisms (4) are located on both sides of the rotation axis (70) and on a diameter of the rotation trajectory of the extension arm (7). The two first linear drive mechanisms (4) are equidistant from the rotation axis (70). A pair of gripper mechanisms (3) are located below the extension arm (7) and are respectively installed on the moving end of a first linear drive mechanism (4). The gripper mechanisms (3) are used to grip the product (2). Two storage stations (20) for placing the product (2) are provided below the gripper mechanisms (3). The rotating mechanism (8) drives the extension arm (7) to rotate and change the position of the gripper mechanism (3). When the gripper mechanism (3) is in the transport position, the gripper mechanism (3) is located directly above a storage station (20). One gripper mechanism (3) releases the product (2), and the other gripper grabs the product (2). When the gripper mechanism (3) is in the avoidance position, the gripper mechanism (3) and the first linear drive mechanism (4) avoid the upper space of the storage station (20).

2. The rotary manipulator as described in claim 1, characterized in that: When the position of the gripper mechanism (3) switches between the transport position and the avoidance position, the rotation angle of the extension arm (7) is 90°.

3. The rotary manipulator as described in claim 1, characterized in that: It also includes a pair of telescopic frames (5) and a pair of second linear drive mechanisms (6); Two telescopic frames (5) are slidably mounted on the extension arm (7), each corresponding to a first linear drive mechanism (4). The telescopic frames (5) are fixedly connected to the mounting end of the first linear drive mechanism (4), and the sliding direction of the two telescopic frames (5) is the same as the direction of the diameter. The second linear drive mechanism (6) connects the telescopic frame (5) to the extension arm (7) and drives the telescopic frame (5) to slide relative to the extension arm (7); When the gripper mechanism (3) is located in the transport position, the distance between the first linear drive mechanism (4) and the rotation axis (70) is A. When the gripper mechanism (3) is located in the avoidance position, the distance between the first linear drive mechanism (4) and the rotation axis (70) is B. A > B.

4. The rotary manipulator as described in claim 3, characterized in that: The second linear drive mechanism (6) is a cylinder, and a connecting seat (71) is fixed on the upper surface of the extension arm (7) corresponding to the rotation axis (70). The telescopic frame (5) is plate-shaped. The cylinder of the second linear drive mechanism (6) is fixedly connected to the upper surface of the telescopic frame (5). The lower surface of the telescopic frame (5) is slidably connected to the extension arm (7). The piston rod end of the second linear drive mechanism (6) is fixedly connected to the connecting seat (71).

5. The rotary manipulator as described in claim 1, characterized in that: The first linear drive mechanism (4) is a three-axis guide rod cylinder.

6. The rotary manipulator as described in claim 1, characterized in that: The gripper mechanism (3) includes an electric gripper (31) installed on the moving end of the first linear drive mechanism (4). The moving ends of the electric gripper (31) are each equipped with a clamp (32) that matches the product (2). The clamp (32) grips and releases the product (2) from both sides under the drive of the electric gripper (31).

7. The rotary manipulator as described in claim 1, characterized in that: The rotating mechanism (8) includes a motor (81) and a hollow rotating platform (82) both fixedly mounted on the support base (1). The output end of the motor (81) is connected to the input shaft of the hollow rotating platform (82), and the rotating end of the hollow rotating platform (82) is fixedly connected to the extension arm (7).

8. The rotary manipulator as described in claim 1, characterized in that: The support base (1) includes a base plate (13), on which a plurality of spaced support columns (12) are fixedly installed, and also includes a top plate (11) located above the support columns (12) and fixedly connected to the plurality of support columns (12) at the same time, on which the rotating mechanism (8) is fixedly installed.

9. A conveyor line for handling IGBT modules, characterized in that: It includes two dual transfer platforms (9) arranged side by side, one dual transfer platform (9) corresponds to one test station (C), and the two test stations (C) are arranged in the same way as the two dual transfer platforms (9). Each dual transfer platform (9) includes two positioning seats (91) that can be moved alternately to the test station (C). The positioning seats (91) are used to place the product (2), and the product (2) is an IGBT module. The conveyor line also includes a rotary manipulator as described in any one of claims 1-8 located between two dual transfer platforms (9), and the arrangement direction of the two storage stations (20) is the same as the arrangement of the dual transfer platforms (9); Each dual transfer platform (9) has a dual-axis robotic arm (10) on the side away from the test station (C). The dual-axis robotic arm (10) includes a lateral transfer mechanism (101) and a longitudinal transfer mechanism (102) installed on the moving end of the lateral transfer mechanism (101). The moving end of the longitudinal transfer mechanism (102) is equipped with a transport gripper (103). The transport gripper (103) is used for linear sequential transport between the storage station (20), the positioning seat (91) located outside the test station (C), and the docking station (D). The docking station (D) and the storage station (20) are located on opposite sides of the dual transfer platform (9).

10. The conveyor line for handling IGBT modules as described in claim 9, characterized in that: Both the transverse transfer mechanism (101) and the longitudinal transfer mechanism (102) are linear modules, and the structure of the transport gripper (103) is the same as that of the gripper mechanism (3).

Images