Assembly equipment, assembly method

Abstract

To provide an assembly device and assembly method capable of automating the assembly work of a power conversion unit without causing a decline in performance characteristics.SOLUTION: An assembly device according to an embodiment includes a robot arm, a component storage place, a hand, and a hand storage place, and assembles a power conversion unit in which flat-type pressure-welding elements are stacked. A multi-joint robot arm is erected near the assembly position where multiple types of components with different shapes are centered and stacked. The multiple types of components are placed on the component storage place and the multiple component storage places are arranged within the rotational range of the robot arm. Multiple types of hands are attached to the robot arm and respectively correspond to the shapes of the multiple types of components so as to be able to grip the multiple types of components. The hand storage place is arranged near the component storage place and the hands which correspond to the multiple types of components are detachably arranged thereon when transferring the components from the component storage place to the assembly position.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present invention relates to an assembling apparatus and an assembling method.

Background Art

[0002] For example, there is a power conversion unit that employs a flat pressure contact element as a power converter. The power conversion unit is known as a semiconductor stack device. The power conversion unit comprises, as articles (parts): a plurality of flat semiconductor elements and heat radiators alternately stacked; a pressurizing means for pressurizing the flat semiconductor elements and the heat radiators in the stacking direction; and a frame using a stud or the like for fixing these components.

[0003] The power conversion unit is assembled by stacking a plurality of types of articles. The power conversion unit stacks the plurality of types of articles with their axial centers aligned (centered). In a power conversion unit, in order to suppress an increase in electrical resistance at the contact portion of the elements, it is required to stack a plurality of types of articles with their axial centers aligned. In the assembly of power conversion units, there has been potential for the introduction of automated manufacturing equipment.

[0004] For a power conversion unit, there is a concern that performance characteristics may degrade when the axial centers of a plurality of types of articles are misaligned. There has been a demand to automate the assembly work of power conversion units.

Prior Art Literature

Patent Literature

[0005]

Patent Literature 1

Patent Literature 2

Patent Literature 3

Summary of the Invention

Problem to be Solved by the Invention

[0006] The problem that this invention aims to solve is to provide an assembly apparatus and assembly method that can automate the assembly work of a power conversion unit without causing a decrease in performance characteristics. [Means for solving the problem]

[0007] The assembly apparatus of this embodiment is a device for assembling a power conversion unit in which flat pressure-contact elements are stacked. It comprises a robot arm, a parts storage area, a hand, and a hand storage area. The robot arm is erected near an assembly position where multiple types of parts with different shapes are aligned and stacked. The robot arm is multi-jointed. The parts storage area is positioned within the rotational range of the robot arm. Each parts storage area holds multiple types of parts. Multiple parts storage areas are arranged. The hand is attached to the robot arm. The hand is designed to correspond to the shapes of multiple types of parts so that it can grasp multiple types of parts. The hand comprises multiple different types. The hand holder is positioned within the rotational range of the robot arm. It is positioned near the parts holder. The hand holder is arranged so that individual hands corresponding to multiple types of parts can be attached to and detached from the robot arm when transferring multiple types of parts from the parts holder to the assembly position. [Brief explanation of the drawing]

[0008] [Figure 1] A front view showing a power conversion unit assembled using the assembly apparatus and assembly method of the embodiment. [Figure 2] A perspective view showing the components (semiconductor elements) of the power conversion unit in the embodiment. [Figure 3] A schematic front view showing the assembly apparatus of the embodiment. [Figure 4] A schematic top view showing the assembly apparatus of the embodiment. [Figure 5]A perspective view showing the hand and the gripped product (semiconductor element) in the assembly apparatus of the embodiment. [Figure 6] A perspective view showing the hand and the gripped item (connection terminal plate) in the assembly apparatus of the embodiment. [Figure 7] A perspective view showing the hand and the gripped item (heat sink) in the assembly apparatus of the embodiment. [Figure 8] A perspective view showing the hand and the gripped item (insulating spacer) in the assembly apparatus of the embodiment. [Figure 9] A perspective view showing the hand and the gripped item (connection terminal plate) in the assembly apparatus of the embodiment. [Modes for carrying out the invention]

[0009] The assembly apparatus and assembly method according to this embodiment will be described below with reference to the drawings. Figure 1 is a perspective view showing the assembly apparatus and assembly method of the power conversion unit assembled in this embodiment. Figure 2 is a perspective view showing the semiconductor elements of the power conversion unit in this embodiment. In the figures, reference numeral 10 denotes the power conversion unit.

[0010] The assembly apparatus and assembly method of the embodiment will use the XYZ Cartesian coordinate system. The Z-axis direction corresponds to the vertical direction, with the +Z direction defined as upward and the -Z direction defined as downward. The X-axis and Y-axis directions are mutually orthogonal in the horizontal plane. In the horizontal plane, the direction from the robot arm 110 of the assembly apparatus 100 (described later) toward the assembly position is defined as the Y-axis direction. In the horizontal plane, the direction perpendicular to the Y-axis direction is defined as the X-axis direction. Furthermore, in the following description, if necessary, the +X direction will be defined as right and the -X direction as left in the X-axis direction.

[0011] As shown in FIG. 1, the power conversion unit 10 according to the present embodiment includes a flat semiconductor element (flat pressure contact element) 11, an electrode terminal plate (connection terminal plate) 12, an electrode terminal plate (connection terminal plate) 12B, a heat radiator 13, an insulating spacer 14, a spherical seat 15, a pressurizing mechanism, a pressurizing support plate 16a, a pressurizing support plate 16b, a stud bolt 17, a fixing nut 18a, a fixing nut 18b, and an insulator spacer 19.

[0012] In the power conversion unit 10, a plurality of flat semiconductor elements 11 are stacked. The power conversion unit 10 is assembled by stacking a plurality of flat semiconductor elements 11. The power conversion unit 10 is a stacking apparatus for flat semiconductor elements 11. In the example shown in FIG. 1, four flat semiconductor elements 11 are stacked in the power conversion unit 10. The number of stacked flat semiconductor elements 11 in the power conversion unit 10 can be appropriately set. The plurality of flat semiconductor elements 11 are stacked such that their respective main surfaces are parallel to each other. The plurality of flat semiconductor elements 11 are connected in series.

[0013] The flat semiconductor element 11 is disc-shaped or short cylindrical. The flat semiconductor element 11 has an envelope with a circular contour. One axial end surface of the flat semiconductor element 11 serves as an electrode 11a (see FIG. 2). The other axial end surface of the flat semiconductor element 11 serves as an electrode 11a (see FIG. 2). Each of the electrodes 11a protrudes in the axial direction of the flat semiconductor element 11.

[0014] For the flat semiconductor element 11, the heat radiators 13 are stacked in a direction along the axis F0 perpendicular to the main surface of the flat semiconductor element 11 (i.e., the stacking direction). The flat semiconductor elements 11 and the heat radiators 13 are arranged to be alternately stacked. The flat semiconductor elements 11 and the heat radiators 13 are arranged such that their center positions coincide with the axis F0. The flat semiconductor elements 11 and the heat radiators 13 are aligned with each other such that their axial centers coincide with the axis F0.

[0015] The heat radiator 13 has a rectangular outline. The heat radiator 13 is substantially square. The heat radiator 13 is in the shape of a thick plate. The heat radiator 13 is formed of a conductive material excellent in heat conductivity. The heat radiator 13 is formed of, for example, copper, aluminum, or an alloy containing these materials. A refrigerant flow channel (not shown) is provided inside the heat radiator 13. The refrigerant flow channel is connected to a pipe (not shown).

[0016] In the heat radiator 13, a refrigerant such as water, oil, air or gas flows into the refrigerant flow channel through the pipe. The heat radiator 13 promotes heat dissipation by means of the refrigerant flowing through the refrigerant flow channel. The heat radiator 13 has an introduction port and a discharge port for the refrigerant flow channel. The introduction port and the discharge port are connected to the pipe. The introduction port introduces the refrigerant into the refrigerant flow channel. The discharge port discharges the refrigerant from the refrigerant flow channel. The introduction port and the discharge port are provided at positions intersecting the axis F0. The introduction port and the discharge port are provided on a side surface orthogonal to the axis F0.

[0017] The flat semiconductor element 11 is in thermal contact with the heat radiator 13. The heat radiator 13 dissipates heat transferred from the flat semiconductor element 11. Alternatively, the heat radiator 13 is in contact with the flat semiconductor element 11. The heat radiator 13 cools the flat semiconductor element 11. For the flat semiconductor element 11, the center position of the contact surface with the heat radiator 13 coincides with the axis F0. For the heat radiator 13, the center position of the end surface facing the flat semiconductor element 11 coincides with the axis F0. The center position of the contact surface of the flat semiconductor element 11 coincides with the center position of the end surface of the heat radiator 13. The flat semiconductor element 11 and the heat radiator 13 are centered.

[0018] For the heat radiator 13, the number of stacked layers along the axis F0 may be the same as the number of stacked layers of the flat semiconductor elements 11. Note that the number of stacked layers of the heat radiator 13 may be different from that of the flat semiconductor elements 11. The heat radiator 13 may have a larger number of stacked layers than the flat semiconductor elements 11. The heat radiator 13 may also have a smaller number of stacked layers than the flat semiconductor elements 11.

[0019] The electrode terminal plate (connection terminal plate) 12 connects to an external circuit (not shown). The electrode terminal plate 12 is made of a conductive material. The electrode terminal plate 12 is a thin plate. The electrode terminal plate 12 contacts the electrode 11a. The electrode terminal plate 12 may be bent at a position where it does not contact the flat semiconductor element 11. The electrode terminal plate 12 is placed between the flat semiconductor element 11 and the heat sink 13. Note that the electrode terminal plate 12 may not be placed between the flat semiconductor element 11 and the heat sink 13.

[0020] The electrode terminal plate 12 may have a portion that protrudes from the flat semiconductor element 11 when viewed from above. The electrode terminal plate 12 may have a portion that protrudes from the heat sink 13 when viewed from above. The portion of the electrode terminal plate 12 that contacts the electrode 11a is a flat plate. The portion of the electrode terminal plate 12 that does not contact the electrode 11a may be formed to be three-dimensional in the vertical direction relative to the portion that contacts the electrode 11a.

[0021] The electrode terminal plate (connection terminal plate) 12B connects to an external circuit (not shown). The electrode terminal plate 12B is made of a conductive material. The electrode terminal plate 12B is a plate that is thicker than the electrode terminal plate 12. The electrode terminal plate 12B contacts the side of the flat semiconductor element 11 opposite to the electrode 11a. The electrode terminal plate 12B may be bent in a position where it does not contact the flat semiconductor element 11. The electrode terminal plate 12B is placed between the flat semiconductor element 11 and the heat sink 13. Note that the electrode terminal plate 12B may not be placed between the flat semiconductor element 11 and the heat sink 13.

[0022] The electrode terminal plate 12B may have a portion that protrudes from the flat semiconductor element 11 when viewed from above. The electrode terminal plate 12B may have a portion that protrudes from the heat sink 13 when viewed from above. The portion of the electrode terminal plate 12B that contacts the side opposite to the electrode 11a is flat. The portion of the electrode terminal plate 12B that does not contact the electrode 11a may be formed to be three-dimensional in the vertical direction relative to the portion that contacts the electrode 11a.

[0023] The spherical seats 15 are positioned at both ends of the stacked flat semiconductor elements 11 and the heat sink 13 in the direction along the axis F0. The spherical seats 15 are aligned with the flat semiconductor elements 11 and the heat sink 13. The spherical seats 15 are centered with the flat semiconductor elements 11 and the heat sink 13. The insulating spacer 14 is positioned between the stack of flat semiconductor elements 11 and heat sinks 13 and the spherical seat 15 in a direction along the axis F0. The spherical seat 15 is positioned so that its spherical portion abuts against the insulating spacer 14. The center of the spherical portion of the spherical seat 15 coincides with the axis F0.

[0024] The spherical seat 15 contacts the pressure support plates 16a and 16b on the outside of the laminate in the direction along the axis F0. A pressure mechanism is positioned between the pressure support plate 16a and the spherical seat 15. A pressure mechanism is also positioned between the pressure support plate 16b and the spherical seat 15. The pressurizing mechanism consists of multiple disc springs. The pressurizing mechanism is configured to be biased in the stacking direction of the multiple disc springs. The center position of the pressurizing mechanism coincides with the axis F0.

[0025] The pressure support plate 16a has two bolt holes drilled in it. The pressure support plate 16b also has two bolt holes drilled in it. The pressure support plates 16a and 16b are arranged parallel to each other. The bolt holes of the pressure support plates 16a and 16b face each other. Stud bolts 17 are erected in both of the opposing bolt holes of the pressure support plates 16a and 16b.

[0026] Stud bolts 17 are erected parallel to the axis F0. Stud bolts 17 are erected along the axis F0. Multiple stud bolts 17 are erected. Stud bolts 17 are erected on the same circumference centered on the axis F0. Stud bolts 17 are erected at equal distances apart on the circumference centered on the axis F0. Fixing nuts 18a and 18b are screwed onto both ends of the stud bolt 17. Pressure support plates 16a and 16b sandwich a laminate of flat semiconductor elements 11 and heat sinks 13 by means of the stud bolts 17, fixing nuts 18a and 18B. Pressure support plates 16a and 16b sandwich a plurality of flat semiconductor elements 11 and heat sinks 13 that are alternately stacked in the direction along the axis F0.

[0027] The fixing nuts 18a and 18B adjust the amount of tightening relative to the stud bolt 17. The pressure mechanism adjusts the amount of deflection of the disc spring by adjusting the amount of tightening relative to the stud bolt 17 relative to the fixing nuts 18a and 18B. This properly adjusts the overlapping pressure applied between the pressure support plates 16a and 16b. By adjusting the pressure between the pressure support plates 16a and 16b, the overlapping pressure applied to the multiple flat semiconductor elements 11 and the heat sink 13 that are sandwiched together is properly adjusted. The pressure applied to the flat semiconductor element 11 and the heat sink 13 in the overlapping direction can become as high as, for example, several tens of kN, when the flat semiconductor element 11 is enlarged.

[0028] The insulating spacer 19 is the same type of spacer as the insulating spacer 14. The insulating spacer 19 has a substantially circular contour when viewed in the direction along the axis F0.

[0029] The power conversion unit 10 consists of multiple flat semiconductor elements 11, an electrode terminal plate 12, an electrode terminal plate 12B, a heat sink 13, an insulating spacer 14, a spherical seat 15, a pressurizing mechanism, a pressurizing support plate 16a, a pressurizing support plate 16b, and an insulating spacer 19, all stacked with their central positions aligned to the axis F0. The flat semiconductor element 11 and the electrode terminal plate 12 are in contact with each other. The flat semiconductor element 11 and the electrode terminal plate 12 are in close contact with each other. The electrode terminal plate 12 is in contact with the entire surface of the electrode 11a of the flat semiconductor element 11. The flat semiconductor element 11 and the electrode terminal plate 12B are in contact with each other. The flat semiconductor element 11 and the electrode terminal plate 12B are in close contact with each other. The electrode terminal plate 12B is in contact with the entire surface of the flat semiconductor element 11 opposite to the electrode 11a.

[0030] Figure 3 is a schematic front view showing the assembly apparatus used for assembling the power conversion unit in the embodiment. Figure 4 is a schematic top view showing the assembly apparatus used for assembling the power conversion unit in the embodiment. The power conversion unit 10 is assembled by the assembly device 100.

[0031] The assembly apparatus 100 of the embodiment is an apparatus for assembling a power conversion unit 10 in which flat pressure contact elements 11 are stacked. As shown in Figures 3 and 4, the assembly apparatus 100 includes a robot arm 110, a parts storage area 120, a hand 130, a hand storage area 140, and an assembly position section 150.

[0032] The robot arm 110 is multi-jointed. The robot arm 110 is adjacent to the assembly position section 150 in the Y-axis direction. The robot arm 110 is erected on a base portion 111 located approximately in the center when viewed from above. The robot arm 110 has a base portion 112, a first rotating portion 113, a first arm 114, a second rotating portion 115, a second arm 116, a third rotating arm 117, and a hand attachment portion 118.

[0033] The base 112 is positioned on the upper surface of the base 111. The base 112's -Z-axis end is connected to the base 111. The first rotating part 113 is connected to the base 112's +Z-axis end. The first rotating part 113 can rotate relative to the base 112 about a rotation axis F13 along the Z-axis. The base end of the first arm 114 is connected to the first rotating part 113. The first arm 114 can rotate relative to the first rotating part 113 about a rotation axis F14 along the horizontal direction. The first arm 114 is connected to the side of the first rotating part 113. The rotation axis F14 and the rotation axis F13 are perpendicular to each other.

[0034] A second rotating part 115 is connected to the tip of the first arm 114. The second rotating part 115 can rotate around a rotation axis F15 that is aligned horizontally with respect to the first arm 114. The rotation axis F14 and the rotation axis F15 are parallel to each other. The second rotating part 115 is connected to the tip side of the first arm 114. The base end of the second arm 116 is connected to the second rotating part 115 at a peripheral position relative to the rotation axis F15. The second arm 116 can rotate around a rotation axis F16 that is perpendicular to the rotation axis F15 with respect to the second rotating part 115. The second arm 116 is connected to the second rotating part 115 at a lateral position relative to the rotation axis F15.

[0035] A third rotating arm 117 is connected to the tip of the second arm 116. The third rotating arm 117 can rotate around a rotation axis F17 that is perpendicular to the rotation axis F16 relative to the second arm 116. A hand attachment part 118 is connected to the tip of the third rotating arm 117. The hand attachment part 118 can rotate around a rotation axis F18 that is perpendicular to the rotation axis F17 relative to the third rotating arm 117.

[0036] The robot arm 110 is equipped with a drive mechanism (not shown) at the connection point of each part. The drive mechanism allows the robot arm 110 to drive each part relative to itself, enabling the hand attachment part 118 to move in a predetermined manner.

[0037] The robot arm 110 is not limited to the above configuration as long as it has multiple joints and can perform the desired movements.

[0038] The parts storage area 120 is located within the rotational range of the robot arm 110. Multiple parts storage areas 120 are provided within the rotational range of the robot arm 110. The parts storage area 120 is positioned on both sides of the robot arm 110 in the X-axis direction. The parts storage area 120 is positioned to the right and to the left of the robot arm 110 in the X-axis direction. Multiple parts storage areas 120 are provided. Each parts storage area 120 holds multiple types of parts that make up the power conversion unit 10. Multiple types of parts with different shapes are placed on the upper surface of each parts storage area 120.

[0039] The height of the parts storage area 120 on which each part is placed, in the Z-axis direction, is approximately equal to the assembly position described later. The height of the parts storage area 120 in the Z-axis direction can be slightly higher than the assembly position described later. The parts storage area 120 may have a flat surface for placing parts. Furthermore, the parts storage area 120 may have a peripheral wall that is erected to surround the periphery of the surface for placing parts.

[0040] For example, in Figures 3 and 4, the parts storage area 120 located to the left of the robot arm 110 is used to place parts that have a circular contour when viewed from above. The parts storage area 120 located to the left of the robot arm 110 is used to place flat semiconductor elements 11, insulating spacers 14, insulating spacers 19, and the like. For example, the parts storage area 120 located to the right of the robot arm 110 may be used to place parts that have a roughly rectangular outline when viewed from above. Alternatively, the parts storage area 120 located to the right of the robot arm 110 may be used to place parts that are roughly flat. For example, an electrode terminal plate (connection terminal plate) 12, a heat sink 13, etc., may be placed in the parts storage area 120 located to the right of the robot arm 110. The types and arrangement of components placed in the component storage area 120 are not limited to those described above. Any arrangement that is preferable for the assembly of the power conversion unit 10 is acceptable.

[0041] The parts storage area 120 has the upper surface of the trolley section 121 as the mounting surface. The trolley section 121 is movable by wheels 125. The wheels 125 are positioned at the lower corners of the trolley section 121. The trolley section 121 is moved by the movement of the wheels 125. The trolley section 121 can move between the parts supply position when stacking parts, which is within the rotational range of the robot arm 110, and the parts placement position when placing parts on the mounting surface. This makes it possible to supply parts to the robot arm 110 without interruption by using multiple trolley sections 121.

[0042] Figure 5 is a perspective view showing the hand 130 and the flat semiconductor element (supplies) 11 being gripped in the assembly apparatus 100 of the embodiment. Figure 6 is a perspective view showing the hand 130 and the connection terminal plate 12 being gripped in the assembly apparatus 100 of the embodiment. Figure 7 is a perspective view showing the hand 130 and the heat sink 13 being gripped in the assembly apparatus 100 of the embodiment. Figure 8 is a perspective view showing the hand 130 and the insulating spacer 14 being gripped in the assembly apparatus 100 of the embodiment. Figure 9 is a perspective view showing the hand 130 and the connection terminal plate 12B being gripped in the assembly apparatus 100 of the embodiment. The hand 130 is attached to the robot arm 110.

[0043] The hand 130 is attached to the robot arm 110. Multiple types of hands 130 are provided so that they can grasp multiple types of parts. The hand 130 is used when the robot arm 110 transfers parts from the parts storage area 120 to the assembly position area 150. Multiple types of hands 130 are provided in the hand storage area 140, which will be described later, to correspond to the parts being transferred. The hand 130 is attached to the robot arm 110 in accordance with the part to be grasped during the assembly of the power conversion unit 10. At the same time, the hand 130 is attached to the hand mounting portion 118 of the robot arm 110 in accordance with the part to be grasped during the assembly of the power conversion unit 10, and is replaced in accordance with the next part to be grasped.

[0044] From several types, one hand 130 is selected to correspond to the part to be transported. The selected hand 130 is attached to the hand mounting section 118 of the robot arm 110. As described later, the hand 130 is attached to the hand mounting section 118 in the hand storage area 140. The robot arm 110 with the hand 130 attached transports the corresponding part from the part storage area 120 to the assembly position area 150. After centering and stacking the parts is complete, the hand 130, which has released its grip on the part, is detached in accordance with the next part to be stacked. The hand 130 is detached from the hand attachment portion 118 in the hand rest 140. At the same time that the hand 130 is detached from the hand attachment portion 118 in the hand rest 140, it is placed in a predetermined position in the hand rest 140. The Hand 130 is replaced to accommodate different parts.

[0045] As shown in Figures 5 to 9, the hand 130 has at least a part gripping portion 131 and a mounting chuck portion 132. The component gripping section 131 can grip different components using different gripping methods. For example, the component gripping section 131 can grip a component by pinching it from all sides with multiple claws. Alternatively, the component gripping section 131 can grip a component by adhering to its upper surface shape. These methods can be selected according to the shape and rigidity of the component. The configurations of the various types of component gripping sections 131 will be described later. Furthermore, each of the component gripping sections 131 may have a drive unit that enables gripping.

[0046] The mounting chuck portion 132 is detachable from the hand mounting portion 118. The mounting chuck portion 132 can be attached to and detached from the hand mounting portion 118 by moving closer to and further away from it along the mounting axis (mounting axis) F30. When the mounting chuck portion 132 and the hand mounting portion 118 are connected to each other, the mounting axis F30 can coincide with the rotation axis F18. The mounting chuck portion 132 has a predetermined chuck mechanism to support the hand 130 relative to the hand mounting portion 118. Furthermore, the mounting chuck portion 132 and the hand mounting portion 118 are configured to be connected and disconnected in order to transmit a drive signal for gripping a part to the part gripping portion 131 when attaching or detaching the hand 130. The mounting chuck section 132 allows the hand 130 to be attached and detached by controlling the movement and direction of the hand mounting section 118 by the robot arm 110.

[0047] As an example of the hand 130, Figure 5 shows a configuration corresponding to the semiconductor element (supplies) 11. This hand 130 grips a semiconductor element (product) 11, which has a thick, disc-shaped form, by clamping it from all sides. Therefore, the component gripping section 131 has a configuration in which multiple claws move in the radial direction of the semiconductor element (product) 11, contacting and gripping the side surface of the semiconductor element (product) 11. The multiple claws of the component gripping section 131 are evenly arranged in the circumferential direction of the semiconductor element (product) 11. In the illustrated example, the hand 130 has three claws. The component gripping section 131 has a drive mechanism that moves the three claws in the radial direction of the semiconductor element (product) 11. In this hand 130, the radial direction of the semiconductor element (supply) 11, on which multiple claws move, can be aligned with a plane that includes the mounting axis F30.

[0048] The hand 130 is driven by a drive mechanism, causing the three claws in the part gripping section 131 to move inward in the radial direction of the semiconductor element (supply) 11. As a result, the three claws come into contact with the side surface of the semiconductor element (supply) 11. This puts the hand 130 in a gripping state of the semiconductor element (supply) 11. In this state, the robot arm 110 can transport the semiconductor element (supply) 11 from the part storage area 140 to the assembly position 150, and stack them while aligning them.

[0049] The hand 130 is driven by a drive mechanism, causing the three claws in the component gripping section 131 to move outward in the radial direction of the semiconductor element (supply) 11. As a result, the three claws separate from the side surface of the semiconductor element (supply) 11. This causes the hand 130 to release its grip on the semiconductor element (supply) 11.

[0050] As an example of the hand 130, Figure 6 shows a configuration corresponding to the connection terminal board (supplies) 12. This hand 130 grips a thin connection terminal plate (supply) 12, such as a semiconductor element 11, by adsorption from its upper surface. For this reason, the component gripping portion 131 has a flat plate-shaped adsorption portion that can be vacuum-adsorbed or magnetically adsorbed. The component gripping portion 131 is positioned so that the adsorption surface of the adsorption portion can descend from above to contact the upper surface of the connection terminal plate (supply) 12, which is placed on the component holder 140. In the illustrated example of the hand 130, an adsorption portion having a rectangular adsorption surface is exemplified. The component gripping portion 131 is configured so that the adsorption state and release state of the adsorption portion can be switched by a drive mechanism. In this hand 130, the suction surface of the suction part can be aligned with a plane that includes the mounting axis F30.

[0051] The hand 130, via the robot arm 110, brings its suction surface into contact with the upper surface of the connection terminal plate (supplies) 12. In this state, the drive mechanism drives the suction part of the part gripping section 131 into a gripping position. In this state, the robot arm 110 can transport the connection terminal plate (supplies) 12 from the parts storage area 140 to the assembly position area 150, and stack them while aligning them.

[0052] The hand 130 is driven by a drive mechanism to release the suction state at the part gripping portion 131. As a result, the suction portion separates from the upper surface of the connecting terminal plate (supplies) 12. Consequently, the hand 130 releases its grip on the connecting terminal plate (supplies) 12.

[0053] As an example of the hand 130, Figure 7 shows a configuration corresponding to the heat sink (supplies) 13. This hand 130 grips a heat sink (supply) 13, which is approximately the same thickness as or slightly thicker than the semiconductor element 11, by clamping it from around its periphery. Therefore, the component gripping portion 131 has a configuration in which multiple claws move in the radial direction of the roughly rectangular heat sink (supply) 13, contacting and gripping the side surface of the heat sink (supply) 13. The component gripping portion 131 has multiple claws arranged on the circumferential surface of the heat sink (supply) 13. The component gripping portion 131 has multiple claws arranged on at least one pair of opposing circumferential surfaces so as to sandwich the heat sink (supply) 13. In the illustrated example of the hand 130, the component gripping portion 131 has three claws. The component gripping portion 131 has a drive mechanism that moves the three claws in the radial direction of the heat sink (supply) 13. Here, the radial direction of the heat sink (supply) 13 is the direction normal to the side surface of the rectangular heat sink (supply) 13. In this hand 130, the radial direction of the heat sink (equipment) 13, on which multiple claws move, can be aligned with a plane that includes the mounting axis F30.

[0054] In this hand 130, the upper surface of the heat sink (equipment) 13 can be aligned with a plane that includes the mounting axis F30. The hand 130 has a gripping position restricting part 133 that restricts the suction position of the heat sink (product) 13. The gripping position restricting part 133 restricts the position of the heat sink (product) 13 relative to the hand 130 when the heat sink (product) 13 is suctioned. The gripping position restricting part 133 contacts the upper surface of the heat sink (product) 13 when the heat sink (product) 13 is suctioned.

[0055] The hand 130, via the robot arm 110, brings its suction surface into contact with the upper surface of the heat sink (product) 13. At this time, the gripping position regulating part 133 restricts the position of the heat sink (product) 13 relative to the hand 130 by bringing its suction surface into contact with the side surface of the heat sink (product) 13. In this state, the suction part of the part gripping part 131 is driven by the drive mechanism to enter a gripping state. In this state, the robot arm 110 can transport the heat sink (product) 13 from the part storage area 140 to the assembly position area 150, and stack them while performing centering.

[0056] The hand 130 is driven by a drive mechanism to release the suction state at the part gripping portion 131. As a result, the suction portion separates from the upper surface of the heat sink (product) 13. Consequently, the hand 130 releases its grip on the heat sink (product) 13.

[0057] As an example of the hand 130, Figure 8 shows a configuration corresponding to the insulating spacer (supplies) 14. This hand 130 grips an insulating spacer (supply) 14, which has a thick, disc-shaped form, by clamping it from around its periphery. Therefore, the part gripping section 131 has a configuration in which multiple claws move in the radial direction of the insulating spacer (supply) 14, contacting the side surface of the insulating spacer (supply) 14 to grip it. The multiple claws of the part gripping section 131 are evenly arranged in the circumferential direction of the insulating spacer (supply) 14. In the illustrated example, the hand 130 has three claws. The part gripping section 131 has a drive mechanism that moves the three claws in the radial direction of the insulating spacer (supply) 14. In this hand 130, the radial direction of the insulating spacer (supply) 14, on which multiple claws move, can be aligned with a plane that includes the mounting axis F30.

[0058] The hand 130 is driven by a drive mechanism, causing the three claws in the part gripping section 131 to move inward in the radial direction of the insulating spacer (supply) 14. As a result, the three claws come into contact with the side surface of the insulating spacer (supply) 14. This puts the hand 130 in a gripping state of the insulating spacer (supply) 14. In this state, the robot arm 110 can transport the insulating spacer (supply) 14 from the part storage area 140 to the assembly position section 150, and stack them while centering them.

[0059] The hand 130 is driven by a drive mechanism, causing the three claws in the part gripping section 131 to move outward in the radial direction of the insulating spacer (supply) 14. This causes the three claws to separate from the side surface of the insulating spacer (supply) 14. As a result, the hand 130 releases its grip on the insulating spacer (supply) 14.

[0060] As an example of the hand 130, Figure 9 shows a configuration corresponding to the connection terminal board (supplies) 12B. The hand 130 grips the terminal board (supplies) 12B, which has a substantially rectangular contour and is thicker than the terminal board (supplies) 12, by clamping it from around its periphery. Therefore, the component gripping portion 131 has a configuration in which multiple claws move in the radial direction of the semiconductor element (supplies) 11 of the terminal board (supplies) 12B, contacting the side surface of the terminal board (supplies) 12B to grip it. The component gripping portion 131 has multiple claws arranged on three sides of the rectangular contour of the terminal board (supplies) 12B. In the illustrated example of the hand 130, there are three claws that contact each of the three sides of the terminal board (supplies) 12B. The component gripping portion 131 has a drive mechanism that moves the three claws in the radial direction of the terminal board (supplies) 12B. Here, the radial direction of the terminal board (supplies) 12B refers to the direction away from the side or the direction approaching the side of the rectangular contour of the terminal board (supplies) 12B. In this hand 130, the radial direction of the connecting terminal plate (supplies) 12B, on which multiple claws move, can be aligned with a plane that includes the mounting axis F30.

[0061] The hand 130 is driven by a drive mechanism, causing the three claws in the part gripping section 131 to move inward in the radial direction of the terminal board (supplies) 12B. As a result, the three claws come into contact with the side surface of the terminal board (supplies) 12B. This causes the hand 130 to grip the terminal board (supplies) 12B. In this state, the robot arm 110 can transport the terminal board (supplies) 12B from the part storage area 140 to the assembly position 150, and stack them while aligning them.

[0062] The hand 130 is driven by a drive mechanism, causing the three claws in the part gripping section 131 to move outward in the radial direction of the connecting terminal plate (supplies) 12B. As a result, the three claws separate from the side surface of the connecting terminal plate (supplies) 12B. This causes the hand 130 to release its grip on the connecting terminal plate (supplies) 12B.

[0063] Multiple types of hands 130 are stored in the hand holder 140. The hand rest 140 is positioned within the rotation range of the robot arm 110. The hand rest 140 is positioned near the parts rest 120. When viewed from above, the hand rest 140 is positioned near the parts rest. The hand storage area 140 arranges individual hands 130 corresponding to each of the various types of parts in a manner that allows them to be attached to and detached from the robot arm 110 when transferring multiple types of parts from the parts storage area 120 to the assembly position area 150.

[0064] The hand rest area 140 is positioned higher than the parts rest area 120. Specifically, the hand rest area 140 is configured such that the lower ends of the hands 130 lined up in the hand rest area 140 are higher than the mounting surface of the parts rest area 120. The hand rest area 140 is configured such that the mounting axis F30 of the hands 130 lined up in the hand rest area 140 is higher than the equipment placed on the mounting surface of the parts rest area 120.

[0065] The hand rest 140 can be configured such that the mounting axis lines F30 of multiple hands 130 arranged in a row are all at the same height. The hand resting area 140 consists of multiple hands 130 arranged in a row, spaced apart from each other. The spacing between the hands 130 is not particularly limited, as long as it is sufficient to allow each individual hand 130 to be moved one by one in the direction of the mounting axis F30 and used for stacking supplies.

[0066] The hand holder 140 can accommodate multiple types of hands 130 such that the mounting axis F30 of each hand 130 is directed toward the pivot center of the robot arm 110. This allows for minimizing the movement of the robot arm 110 when attaching a hand 130 to it. It also allows for minimizing the movement of the robot arm 110 when detaching an attached hand 130 from the robot arm 110 and replacing it with another hand 130.

[0067] The hand holder 140 can accommodate multiple types of hands 130 with their mounting axes F30 approximately parallel to each other. This allows for minimizing the movement of the robot arm 110 when attaching a hand 130 to it. It also allows for minimizing the movement of the robot arm 110 when detaching an attached hand 130 from the robot arm 110 and replacing it with another hand 130.

[0068] The assembly position section 150 has an assembly position 151 for stacking supplies. The assembly position 151 is located within the rotational range of the robot arm 110. The assembly position 151 can be located at a position in the Z-axis direction that is lower than the mounting surface of the parts storage area 120. The assembly position section 150 is where the lowest pressure support plate 16b is placed. Multiple types of supplies are stacked on this pressure support plate 16b in the assembly position section 150. After all the supplies have been stacked, the pressure support plate 16a is moved from the pressure support plate 16b. The assembly position section 150 may have a moving section 155 for moving the pressure support plate 16b.

[0069] The moving unit 155 moves the pressure support plate 16b horizontally. Alternatively, the moving unit 155 moves the mounting platform on which the pressure support plate 16b is placed horizontally. The moving unit 155 can have a configuration such as a conveyor belt. The moving unit 155 can also be configured to run as a trolley. The moving unit 155 can also be configured to move downwards as goods are stacked. The moving unit 155 can also be configured to be finely adjustable in conjunction with the centering operation of the robot arm 110 when stacking goods.

[0070] The assembly apparatus 100 of this embodiment assembles the power conversion unit 10. The assembly apparatus 100 centers and stacks the flat semiconductor element 11, electrode terminal plate (connection terminal plate) 12, electrode terminal plate (connection terminal plate) 12B, heat sink 13, insulating spacer 14, spherical seat 15, pressure support plate 16a, pressure support plate 16b, and insulating spacer 19 in a predetermined order.

[0071] In the method for assembling the power conversion unit 10, the flat semiconductor element 11, electrode terminal plate (connection terminal plate) 12, electrode terminal plate (connection terminal plate) 12B, heat sink 13, insulating spacer 14, spherical seat 15, and pressure support plate 16a are placed in designated locations in the parts storage area 120 beforehand. At this time, the trolley section 121 with each component placed on the mounting surface can be moved to the designated position by the wheels 125.

[0072] First, at the assembly position 150, the moving unit 155 moves the lowest pressure support plate 16b to the assembly position 151. Next, the supplies are stacked on the set pressure support plate 16b in a predetermined order.

[0073] First, the spherical seats 15 are stacked on the pressure support plate 16b. At this time, the spherical seats 15 can also be set on the pressure support plate 16b in advance. Next, the insulating spacers 14 are stacked.

[0074] First, the robot arm 110 is driven to select one of the hands 130 lined up in the hand storage area 140, as shown in Figure 8, and attach it to the hand mounting section 118. The hand mounting section 118 moves along the mounting axis F30 to approach the hand 130, and attaches the hand 130 from the hand storage area 140 to the hand mounting section 118.

[0075] Next, the robot arm 110 is driven to bring the hand 130 closer to the insulating spacer 14 in the parts storage area 120. Furthermore, the drive mechanism is driven to move the three claws of the parts gripping section 131 inward in the radial direction of the insulating spacer (supplies) 14. As the three claws come into contact with the side surface of the insulating spacer (supplies) 14, the hand 130 grips the insulating spacer (supplies) 14. The robot arm 110 then transports the insulating spacer (supplies) 14 from the parts storage area 140 to the assembly position 151, stacking them while aligning them.

[0076] Next, the drive mechanism is activated to move the three claws of the part gripping section 131 outward in the radial direction of the insulating spacer (supply) 14. As the three claws separate from the side surface of the insulating spacer (supply) 14, the hand 130 releases its grip on the insulating spacer (supply) 14.

[0077] Next, the robot arm 110 is driven to move the hand 130 to the hand rest 140. Furthermore, the hand 130 is detached from the hand attachment part 118 at a predetermined position in the hand rest 140. Next, the electrode terminal board (connection terminal board) 12B is stacked. In preparation for this process, the hand 130 is first replaced.

[0078] The robot arm 110 is driven to select one of the hands 130 lined up in the hand storage area 140, as shown in Figure 9, and attach it to the hand mounting section 118. The hand mounting section 118 moves along the mounting axis F30 to approach the hand 130 and attaches the hand 130 from the hand storage area 140 to the hand mounting section 118.

[0079] Next, the robot arm 110 is driven to bring the hand 130 closer to the electrode terminal plate (connection terminal plate) 12 in the parts storage area 120. Furthermore, the drive mechanism is driven to move the three claws of the parts gripping section 131 toward the outer edge of the electrode terminal plate (connection terminal plate) 12B. As the three claws come into contact with the side of the electrode terminal plate (connection terminal plate) 12B, the hand 130 grips the electrode terminal plate (connection terminal plate) 12B. The robot arm 110 then transports the electrode terminal plate (connection terminal plate) 12B from the parts storage area 140 to the assembly position 151, stacking them while aligning them.

[0080] Next, the drive mechanism is activated to move the three claws of the part gripping portion 131 in a direction away from the outer edge of the electrode terminal plate (connecting terminal plate) 12B. As the three claws move away from the side of the electrode terminal plate (connecting terminal plate) 12B, the hand 130 releases its grip on the electrode terminal plate (connecting terminal plate) 12B.

[0081] Next, the robot arm 110 is driven to move the hand 130 to the hand rest 140. Furthermore, the hand 130 is detached from the hand attachment part 118 at a predetermined position in the hand rest 140. Next, the heat sink (supplies) 13 are stacked. In preparation for this process, the hand 130 is first replaced.

[0082] The robot arm 110 is driven to select one of the hands 130 lined up in the hand storage area 140, as shown in Figure 7, and attach it to the hand mounting section 118. The hand mounting section 118 moves along the mounting axis F30 to approach the hand 130, and attaches the hand 130 from the hand storage area 140 to the hand mounting section 118.

[0083] Next, the robot arm 110 is driven to bring the hand 130 closer to the heat sink (supplies) 13 in the parts storage area 120. Furthermore, the drive mechanism is driven to move the suction part of the parts gripping part 131 toward the upper surface of the heat sink (supplies) 13. As the suction part makes contact with the upper surface of the heat sink (supplies) 13 and suction occurs, the hand 130 grips the heat sink (supplies) 13. The robot arm 110 then transports the heat sink (supplies) 13 from the parts storage area 140 to the assembly position 151, and stacks them while aligning them.

[0084] Next, the drive mechanism is activated to release the suction of the suction part in the part gripping section 131. As a result, the hand 130 releases its grip on the heat sink (supplies) 13.

[0085] Next, the robot arm 110 is driven to move the hand 130 to the hand rest 140. Furthermore, the hand 130 is detached from the hand attachment part 118 at a predetermined position in the hand rest 140. Next, the flat semiconductor elements 11 are stacked. In preparation for this process, the hand 130 is first replaced.

[0086] First, the robot arm 110 is driven to select one of the hands 130 lined up in the hand storage area 140, as shown in Figure 5, and attach it to the hand mounting section 118. The hand mounting section 118 moves along the mounting axis F30 to approach the hand 130, and attaches the hand 130 from the hand storage area 140 to the hand mounting section 118.

[0087] Next, the robot arm 110 is driven to bring the hand 130 closer to the flat semiconductor element 11 in the parts storage area 120. Furthermore, the drive mechanism is driven to move the three claws of the parts gripping section 131 inward in the radial direction of the flat semiconductor element 11. As the three claws make contact with the side surface of the flat semiconductor element 11, the hand 130 grips the flat semiconductor element 11. The robot arm 110 then transports the flat semiconductor element (supplies) 11 from the parts storage area 140 to the assembly position 151, stacking them while aligning them.

[0088] Next, the drive mechanism is activated to move the three claws of the component gripping section 131 outward in the radial direction of the flat semiconductor element (product) 11. As the three claws separate from the side surface of the flat semiconductor element (product) 11, the hand 130 releases its grip on the flat semiconductor element (product) 11.

[0089] Next, the robot arm 110 is driven to move the hand 130 to the hand rest 140. Furthermore, the hand 130 is detached from the hand attachment part 118 at a predetermined position in the hand rest 140. Next, the electrode terminal boards (connection terminal boards) 12 are stacked. In preparation for this process, the hand 130 is first replaced.

[0090] The robot arm 110 is driven to select one of the hands 130 lined up in the hand storage area 140, as shown in Figure 6, and attach it to the hand mounting section 118. The hand mounting section 118 moves along the mounting axis F30 to approach the hand 130 and attaches the hand 130 from the hand storage area 140 to the hand mounting section 118.

[0091] Next, the robot arm 110 is driven to bring the hand 130 closer to the electrode terminal plate (connection terminal plate) 12 in the parts storage area 120. Furthermore, the drive mechanism is driven to move the suction part of the parts gripping part 131 toward the upper surface of the electrode terminal plate (connection terminal plate) 12. As the suction part makes contact with the upper surface of the electrode terminal plate (connection terminal plate) 12 and suction occurs, the hand 130 grips the electrode terminal plate (connection terminal plate) 12. The robot arm 110 then transports the electrode terminal plate (connection terminal plate) 12 from the parts storage area 140 to the assembly position 151, and stacks them while aligning them.

[0092] Next, the drive mechanism is activated to release the suction of the component gripping part 131. As a result, the hand 130 releases its grip on the electrode terminal plate (connecting terminal plate) 12.

[0093] Next, the robot arm 110 is driven to move the hand 130 to the hand rest 140. Furthermore, the hand 130 is detached from the hand attachment part 118 at a predetermined position in the hand rest 140.

[0094] As shown in Figure 1 below, the supplies are stacked sequentially in a predetermined order. At the same time, the hand 130 is replaced each time to match the supplies being stacked. At this time, the axes of the multiple flat semiconductor elements 11, the electrode terminal plate 12, the heat sink 13, the insulating spacer 14, the spherical seat 15, the pressurizing mechanism, the pressurizing support plate 16a, and the pressurizing support plate 16b are aligned. Finally, the stud bolt 17, fixing nut 18a, and fixing nut 18b are used to pressurize each component.

[0095] The assembly method of this embodiment is: A method for assembling a power conversion unit by stacking flat pressure-contact elements, When aligning and stacking multiple types of parts having different shapes in the assembly position, multiple different hands corresponding to the shapes of the multiple types of parts can be attached to the robot arm, and the hands can be swapped out to match the hands corresponding to the multiple types of parts. In this case, when aligning multiple types of the aforementioned parts and stacking them in the assembly position, the parts can be moved from the assembly position after the stacking of the multiple types of aforementioned parts is completed. Furthermore, when transferring multiple types of parts from a parts storage area, which is located within the rotational range of the robot arm and on which the parts are placed, to the assembly position, The robot arm can be equipped with a hand storage area where individual hands corresponding to multiple types of parts are arranged in a way that allows them to be detachably attached to the robot arm and replaced.

[0096] According to this embodiment, the system can be constructed with a single robot arm 110. This allows for space-saving of the equipment. Multiple types of hands 130 are provided to correspond to the shapes of multiple types of products, and the hands 130 are interchangeable, making it possible to grasp products with different external shapes. Furthermore, since the power conversion unit 10 does not need to be moved during the stacking of supplies, no axial misalignment occurs between the stacked supplies. Therefore, it becomes possible to stack the supplies with improved alignment accuracy. By making the assembly area 150 and the parts storage area 120 mobile, it becomes easier to transport the assembled power conversion unit 10 and supply the necessary parts.

[0097] According to at least one embodiment described above, by providing multiple types of hands 130 corresponding to the shapes of multiple types of supplies, and by making the hands 130 interchangeable, it is possible to provide an assembly device and assembly method that can automate the assembly work of a power conversion unit without causing a decrease in performance characteristics.

[0098] Although this embodiment has been described above, some of the configurations in the embodiment are presented as examples and are not intended to limit the scope of the invention. The embodiment can be carried out in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their variations are included in the scope and spirit of the invention, as well as in the claims and their equivalents. [Explanation of Symbols]

[0099] 10…Power conversion unit 11…Flat-type pressure-contact elements (flat-type semiconductor elements, supplies) 12, 12B... Electrode terminal board (connection terminal board, supplies) 13... Heat sink (supplies) 14…Insulating spacer (supplies) 16a...Pressure support plate 16b... Pressure support plate 100... Power conversion unit manufacturing equipment (assembly equipment) 110... Robot arm 120... Parts storage area 130... Hand 140...Hand rest area 150... Assembly position 151... Assembly position F0…Axis line F13~F18...Rotation axis F30... Mounting axis (mounting axis)

Claims

1. A device for assembling a power conversion unit made by stacking flat pressure-contact elements, A multi-jointed robotic arm erected near the assembly position where multiple types of parts with different shapes are aligned and stacked, Multiple parts storage areas are arranged within the rotational range of the robot arm and each of them places multiple types of the aforementioned parts on them. Multiple types of hands are attached to the robot arm and are interchangeable each time to correspond to the shape of each of the multiple types of parts, so that multiple types of parts can be grasped. A hand storage area is located near the aforementioned parts storage area and, when transporting multiple types of parts from the parts storage area to the assembly position, is located within the rotational range of the robot arm and has individual hands corresponding to multiple types of parts arranged to be detachably attached to the robot arm, It has, The aforementioned hand rest area is provided at a higher position than the aforementioned parts rest area. The aforementioned hand rest area is, The mounting axes of the multiple hands are aligned in a direction that intersects with the axis on which the parts are stacked and centered, and are all at the same height, and are higher than the parts placed on the parts storage area. The mounting axis of the robot arm is such that multiple types of hands are arranged toward the pivot center of the robot arm, or the mounting axis of the robot arm is such that multiple types of hands are arranged substantially parallel to each other. Assembly equipment.

2. The hand has a plurality of claws arranged circumferentially with respect to the part and gripping it from all sides, and it is possible to select a hand such that the radial direction of the part on which the claws move is along a plane including the mounting axis. The assembly apparatus according to claim 1.

3. The hand has a flat plate-shaped suction portion capable of adsorbing the component, and the suction surface of the suction portion is selected to be aligned with a plane including the mounting axis. The assembly apparatus according to claim 1.

4. The hand has a plurality of claws arranged circumferentially with respect to the disc-shaped component and gripping it from all sides, and it is possible to select a hand such that the radial direction of the component on which the claws move is along a plane including the mounting axis. The assembly apparatus according to claim 1.

5. A method for assembling a power conversion unit by stacking flat pressure-contact elements, When aligning and stacking multiple types of parts with different shapes in order, Multiple types of different hands, each corresponding to the shape of multiple types of parts, are sequentially attached to the robot arm, and the multiple types of parts are transported (c1) from multiple parts storage areas, each of which is located within the rotational range of the robot arm and on which multiple types of parts are placed, to the assembly position, and each time, the hands are sequentially replaced with the hands corresponding to each of the multiple types of parts by selecting from the hand storage areas, which are arranged within the rotational range of the robot arm and which are detachably attached to the robot arm. The aforementioned hand rest area is provided at a higher position than the aforementioned parts rest area. The aforementioned hand rest area is, The mounting axes of the multiple hands are aligned in a direction that intersects with the axis on which the parts are stacked and centered, and are all at the same height, and are higher than the parts placed on the parts storage area. The mounting axis of the robot arm is such that multiple types of hands are arranged toward the pivot center of the robot arm, or the mounting axis of the robot arm is such that multiple types of hands are arranged substantially parallel to each other. Assembly instructions.

6. When aligning multiple types of the aforementioned parts and stacking them in the assembly position, after the stacking of the multiple types of the aforementioned parts is completed, move them away from the assembly position. The assembly method according to claim 5.

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