CN219418983U - Transistor module material loading disc replacement system - Google Patents

Abstract

The utility model provides a transistor module feeding and disc changing system which comprises a circulating feeding device, a robot device and a discharging device, wherein the circulating feeding device is used for feeding and disc changing transistors; the circulating feeding device is provided with a bonding carrier, and the discharging device is provided with a glue filling carrier; the robotic device is capable of transporting the transistor module on the bonding carrier onto the glue-pouring carrier. According to the utility model, through the mutual matching of the circulating feeding device, the robot device and the discharging device, the efficient disc replacement of the transistor module can be realized.

Description

Transistor module material loading disc replacement system

Technical Field

The utility model relates to the field of semiconductor automatic production equipment, in particular to a transistor module feeding disc-changing system.

Background

IGBT (insulated gate bipolar transistor) is used as a novel power semiconductor field control self-turn-off device, integrates high-speed performance of a power MOS (metal oxide semiconductor) field effect transistor and low resistance of a bipolar device, has the characteristics of high input impedance, low voltage control power consumption, simple control circuit, high voltage resistance, high bearing current and the like, and is widely applied to various power conversions; in order to meet a great deal of market demands, efficient, flexible and intelligent packaging has become a main packaging form of the IGBT.

At present, in the packaging process of the IGBT module, the IGBT module cannot finish all packaging processes in one carrier due to large difference of requirements among various processes, so that disc replacement of the IGBT module is needed in the packaging process; most manual operation is traded in actual production, and the continuity of production can not be guaranteed, and inefficiency.

Disclosure of Invention

The utility model aims to solve the technical problem of realizing disc replacement of a transistor module with high efficiency.

The utility model solves the technical problems by the following technical means:

a transistor module feeding and disc changing system comprises a circulating feeding device (2), a robot device (3) and a discharging device (6); a bonding carrier (216) is arranged on the circulating feeding device (2), and a glue filling carrier (64) is arranged on the discharging device (6); the robotic device (3) is capable of transferring transistor modules on a bonding carrier (216) onto a glue-pouring carrier (64).

The beneficial effects are that: through the mutual cooperation of the circulating feeding device, the robot device and the discharging device, the efficient disc replacement of the transistor module can be realized.

Further, the circulating feeding device (2) comprises a transferring lifting mechanism (21), a first conveying mechanism (22) and a first jacking mechanism (24), wherein the transferring lifting mechanism (21) is close to the input end of the first conveying mechanism (22), the first jacking mechanism (24) is arranged below the output end of the first conveying mechanism (22), the first conveying mechanism (22) can transfer the bonding carrier (216), and the first jacking mechanism (24) can jack the bonding carrier (216) away from the first conveying mechanism (22) and position the bonding carrier; the blanking device (6) comprises a second conveying mechanism (62) and a second jacking mechanism (63), wherein the second jacking mechanism (63) is arranged below the output end of the second conveying mechanism (62), and the second jacking mechanism (63) can jack the glue filling carrier (64) away from the second conveying mechanism (62) and position the glue filling carrier.

The beneficial effects are that: through the cooperation of conveying mechanism, climbing mechanism, the robot device of being convenient for carries the transistor module location.

Further, first conveying mechanism (22) include second support frame (220), second conveyor motor (222), one-level transmission module (223), second transmission module (224), second conveyor belt (225), second dog (226), be fixed with second conveyor motor (222) on second support frame (220), the output rotation of second conveyor motor (222) is connected with one-level transmission module (223), one-level transmission module (223) rotate and are connected with second transmission module (224), second transmission module (224) can drive second conveyor belt (225) and rotate, second conveyor belt (225) are provided with two, two second conveyor belt (225) rotate respectively and connect the inboard at second support frame (220), two contained angles departments of second support frame (220) output all are fixed with second dog (226).

Further, the first conveying mechanism (22) further comprises a detection module, the detection module comprises a lower protection detection component (2271), a second incoming material detection component (2272), an upper protection detection component (2273) and a second in-place detection component (2274), and the lower protection detection component (2271), the second incoming material detection component (2272) and the upper protection detection component (2273) are fixed on the input end of the second support frame (220); the second in-place detecting component (2274) is fixed on the output end of the second supporting frame (220).

The beneficial effects are that: the second incoming material detection component is used for detecting whether the bonding carrier exists at the current feeding level of the bonding basket or not, and the second in-place detection component is used for detecting whether the bonding carrier reaches the discharging end or not; through the setting of protection detection part down for detect whether the bonding carrier breaks away from and transport elevating system, through the setting of protection detection part, be used for detecting the bonding carrier and whether get into on the second conveyor belt completely, detect the bonding carrier and when not getting into the second conveyor belt completely, transport elevating system can not remove, be used for upper and lower protection.

Further, the first conveying mechanism (22) further comprises a first limiting block (229), and the first limiting blocks (229) are fixed on the second supporting frame (220) close to the second stop blocks (226); a first jacking mechanism (24) is arranged below the output end of the second supporting frame (220).

The beneficial effects are that: through the mutually supporting of first stopper and first climbing mechanism, first climbing mechanism can be with bonding carrier top from second conveyor belt, and first stopper can carry out spacing on the Z axle direction to bonding carrier, is convenient for fix a position when later stage robot device snatchs the transistor module on the bonding carrier.

Further, first climbing mechanism (24) include third support frame (241), first jacking cylinder (242), first locating plate (243), first guide bar (244), the vertical section of third support frame (241) is "mouthful" font, be fixed with first jacking cylinder (242) on the diapire of third support frame (241), the roof that the output of first jacking cylinder (242) stretched out third support frame (241) is fixed with first locating plate (243), the four corners department of first locating plate (243) diapire all is fixed with first guide bar (244), the roof setting of third support frame (241) is run through to first guide bar (244), upper and lower sliding connection of first guide bar (244) and third support frame (241).

Further, a first assembly hole (2163) is formed in the bonding carrier (216); the four corners of the top wall of the first positioning plate (243) are detachably connected with first height matching blocks (2432), and first positioning pins (2431) matched with the first assembly holes (2163) are fixed on the two opposite corners of the top wall of the first positioning plate (243) close to the first height matching blocks (2432).

The beneficial effects are that: through the arrangement of the first positioning pins, the first positioning pins can extend into first assembly holes formed in the bonding carrier to precisely position the bonding carrier; through the setting of the first high piece of joining in marriage, stretch out the back at first jacking cylinder, the first high piece of joining in marriage is direct to contact with the bonding carrier, can effectively reduce area of contact, conveniently adjusts the planarization of bonding carrier when first locating plate takes place the slope.

Further, the second conveying mechanism (62) comprises a fourth supporting frame (620), a third conveying motor (622), a driving wheel (623), a third conveying belt (625), a stop cylinder (626) and an in-place detection module (627), the third conveying motor (622) is fixed on the fourth supporting frame (620), the driving wheel (623) is rotationally connected to the output end of the third conveying motor (622), the driving wheel (623) is perpendicular to two vertical plates of the fourth supporting frame (620), the third conveying belt (625) is sleeved on the driving wheel (623) at the positions, close to the two vertical plates of the fourth supporting frame (620), of the third conveying belt (625), three groups of glue filling carriers (64) are sequentially placed on the third conveying belt (625) along the conveying direction, one group of transistor modules for receiving the transfer of the robot device (3) and the other two groups of transistor modules for caching the glue filling carriers (64); the stop cylinder (626) and the in-place detection module (627) are provided with three sets, the three sets of stop cylinder (626) and the in-place detection module (627) are respectively arranged at the output ends of the three groups of glue filling carriers (64), and the stop cylinder (626) and the in-place detection module (627) are both fixed on the fourth support frame (620).

Further, the second conveying mechanism (62) further comprises a second limiting block (629), the second limiting blocks (629) are fixed at four corners of the fourth support frame (620) close to the glue filling carrier (64), and a second jacking mechanism (63) is arranged below the output end of the fourth support frame (620).

The beneficial effects are that: through the mutually supporting of second stopper and second climbing mechanism, second climbing mechanism can be with the encapsulating carrier top from third conveyor belt, and the second stopper can carry out spacing on the Z axle direction to the encapsulating carrier, is convenient for later stage robot device and fixes a position when placing the transistor module on the encapsulating carrier.

Further, a second assembly hole (641) is formed in the glue filling carrier (64); the second jacking mechanism (63) comprises a fifth support frame (631), a third jacking cylinder (632), a second positioning plate (633) and a second guide rod (634), wherein the vertical section of the fifth support frame (631) is in a shape of a 'mouth', the third jacking cylinder (632) is fixed on the bottom wall of the fifth support frame (631), the second positioning plate (633) is fixed on the top wall of the third jacking cylinder (632) extending out of the fifth support frame (631), the second guide rods (634) are fixed at four corners of the bottom wall of the second positioning plate (633), the second guide rods (634) penetrate through the top wall of the fifth support frame (631), the second positioning plates (634) are connected with second matching high blocks (6332) in a detachable mode at four corners of the top wall of the second positioning plate (633), and second positioning pins (6331) which are matched with second matching holes (641) are fixed at two opposite corners close to the second matching high blocks (6332).

The beneficial effects are that: through the arrangement of the second positioning pin, the second positioning pin can extend into a second assembly hole formed in the glue pouring carrier to precisely position the glue pouring carrier; through the setting of the high piece of second joining in marriage, stretch out the back at the third jacking cylinder, the second joins in marriage the high piece and directly contact with the encapsulating carrier, can effectively reduce area of contact, conveniently adjust the planarization of encapsulating carrier when the second locating plate takes place the slope.

The utility model has the advantages that:

according to the utility model, through the mutual matching of the circulating feeding device, the robot device and the discharging device, the efficient disc replacement of the transistor module can be realized.

The transistor module is conveniently positioned and carried by the robot device through the mutual matching of the conveying mechanism and the jacking mechanism.

The utility model is used for detecting whether the bonding carrier exists at the current feeding level of the bonding basket or not through the arrangement of the second incoming material detection component, and is used for detecting whether the bonding carrier reaches the discharging end or not through the arrangement of the second in-place detection component; through the setting of protection detection part down for detect whether the bonding carrier breaks away from and transport elevating system, through the setting of protection detection part, be used for detecting the bonding carrier and whether get into on the second conveyor belt completely, detect the bonding carrier and when not getting into the second conveyor belt completely, transport elevating system can not remove, be used for upper and lower protection.

According to the utility model, through the mutual matching of the first limiting block and the first jacking mechanism, the first jacking mechanism can jack the bonding carrier away from the second conveying belt, and the first limiting block can limit the bonding carrier in the Z-axis direction, so that the later-stage robot device can conveniently position when grabbing the transistor module on the bonding carrier.

According to the utility model, through the arrangement of the first positioning pin, the first positioning pin can extend into a first assembly hole formed in the bonding carrier to precisely position the bonding carrier; through the setting of the first high piece of joining in marriage, stretch out the back at first jacking cylinder, the first high piece of joining in marriage is direct to contact with the bonding carrier, can effectively reduce area of contact, conveniently adjusts the planarization of bonding carrier when first locating plate takes place the slope.

According to the utility model, through the mutual matching of the second limiting block and the second jacking mechanism, the second jacking mechanism can jack the glue-pouring carrier away from the third conveying belt, and the second limiting block can limit the glue-pouring carrier in the Z-axis direction, so that the later-stage robot device can conveniently position the transistor module when the transistor module is placed on the glue-pouring carrier.

According to the utility model, through the arrangement of the second positioning pin, the second positioning pin can extend into a second assembly hole formed in the glue pouring carrier to precisely position the glue pouring carrier; through the setting of the high piece of second joining in marriage, stretch out the back at the third jacking cylinder, the second joins in marriage the high piece and directly contact with the encapsulating carrier, can effectively reduce area of contact, conveniently adjust the planarization of encapsulating carrier when the second locating plate takes place the slope.

Drawings

FIG. 1 is a perspective view of a transistor module loading tray-changing system according to an embodiment of the present utility model;

FIG. 2 is a perspective view of a transfer lifting mechanism of a transistor module loading tray-changing system according to an embodiment of the present utility model;

FIG. 3 is a perspective view of a transfer module of a transistor module loading tray-changing system according to an embodiment of the present utility model;

FIG. 4 is a perspective view of a cyclic loading device (except a transfer lifting mechanism) in a transistor module loading tray-changing system according to an embodiment of the present utility model;

FIG. 5 is a perspective view of a push-pull mechanism in a transistor module loading tray-changing system according to an embodiment of the present utility model;

fig. 6 is a perspective view of a first lifting mechanism in a transistor module loading tray-changing system according to an embodiment of the present utility model;

FIG. 7 is a perspective view of a robotic device in a transistor module loading tray-changing system according to an embodiment of the present utility model;

FIG. 8 is a perspective view of a full dust collector in a transistor module loading tray-changing system according to an embodiment of the present utility model;

fig. 9 is a perspective view of a first turnover mechanism in a transistor module loading tray-changing system according to an embodiment of the present utility model;

FIG. 10 is a perspective view of a dust removal mechanism in a transistor module loading tray-changing system according to an embodiment of the present utility model;

FIG. 11 is a top view of a blanking device in a transistor module loading tray-changing system according to an embodiment of the present utility model;

fig. 12 is a perspective view of a second lifting mechanism in a transistor module loading tray-changing system according to an embodiment of the utility model.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present utility model more apparent, the technical solutions in the embodiments of the present utility model will be clearly and completely described in the following in conjunction with the embodiments of the present utility model, and it is apparent that the described embodiments are some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

Example 1

As shown in fig. 1, the embodiment provides a transistor module conveying and disc changing system, which comprises a fixed bottom plate 1, a circulating feeding device 2, a robot device 3, a NG material placing area 4, a comprehensive dust removing device 5 and a discharging device 6.

As shown in fig. 1, the circulating feeding device 2, the robot device 3, the NG material placing area 4, the comprehensive dust removing device 5 and the discharging device 6 are all fixed on the fixed bottom plate 1, the circulating feeding device 2, the NG material placing area 4 and the comprehensive dust removing device 5 are located at the left side of the fixed bottom plate 1 and are distributed anticlockwise, the discharging device 6 is located at the right side of the fixed bottom plate 1, and the robot device 3 spans the discharging device 6.

As shown in fig. 1, the circulating feeding device 2 comprises a transferring and lifting mechanism 21, a first conveying mechanism 22, a push-pull mechanism 23 and a first jacking mechanism 24, wherein the first conveying mechanism 22 is arranged on the right side of the transferring and lifting mechanism 21, and the first conveying mechanism 22 is fixed on the fixed bottom plate 1; a push-pull mechanism 23 is fixed on one side of the first conveying mechanism 22, which is close to the NG material placement area 4; a first lifting mechanism 24 is arranged below the first conveying mechanism 22 and far away from the transferring lifting mechanism 21, and the first lifting mechanism 24 is fixed on the fixed bottom plate 1.

As shown in fig. 1 and 2, a mounting opening 11 is formed on one side edge of the fixed bottom plate 1, and a transfer lifting mechanism 21 penetrates through the mounting opening 11 to be fixed; the transferring and lifting mechanism 21 comprises a transferring module 211, a bonding basket 212, a first lifting module 213 and a mounting frame 214, wherein the transferring module 211 is connected to the first lifting module 213 in an up-down sliding manner, the bonding basket 212 is placed on the transferring module 211 during operation, the first lifting module 213 penetrates through the mounting opening 11, the mounting frame 214 is fixed on one side, far away from the transferring module 211, of the first lifting module 213, and the mounting frame 214 is fixed on the fixed bottom plate 1;

as shown in fig. 1 and 2, the bonding basket 212 is automatically loaded and unloaded by an AGV (automatic guided vehicle) (not shown), and the transfer module 211 is used for connecting the bonding basket 212 conveyed by the AGV; the bonding basket 212 comprises a frame 2120 and a positioning rod 2122, the bonding basket 212 is internally provided with a bonding carrier 216, the frame 2120 is arranged in a left-right penetrating way, the left end of the frame 2120 is fixedly provided with the positioning rod 2122, a plurality of slide ways 2123 are arranged on the front wall and the rear wall of the frame 2120 in an aligned way, the bonding carrier 216 is placed in the slide ways 2123, one side of the bonding carrier 216, which is close to the positioning rod 2122, is provided with a positioning groove 2161 matched with the bonding carrier 216, and the positioning is convenient for the later push-pull mechanism 23 to take the bonding carrier 216; the first lifting module 213 may enable the bonding basket 212 to move along the Z-axis through the transferring module 211 for taking bonding carriers 216 with different heights.

As shown in fig. 2 and 3, the transfer module 211 includes a first support frame 2110, a first incoming material detecting component 2111, a first conveying motor 2112, a first stage transmission component 2113, a second stage transmission component 2114, a first conveying belt 2115, a lifting component 2116, a first in-place detecting component 2117, and a first stopper 2118; the vertical section of the first support frame 2110 is U-shaped, one side, close to the first lifting module 213, of the first support frame 2110 is connected to the first lifting module 213 in a sliding manner, and a first conveying motor 2112 and a first incoming material detection component 2111 are sequentially fixed on one side, far away from the first lifting module 213, of the first support frame 2110 from left to right; the output end of the first conveying motor 2112 is rotationally connected with a first-stage transmission part 2113, the first-stage transmission part 2113 is fixed on the first supporting frame 2110, the first-stage transmission part 2113 is rotationally connected with a second-stage transmission part 2114, the second-stage transmission part 2114 is fixed perpendicular to two side edges of the first supporting frame 2110, first conveying belts 2115 are sleeved on the second-stage transmission part 2114 at two sides of the first supporting frame 2110, and a bonding basket 212 is placed on the first conveying belts 2115; a jacking component 2116 is fixed on the top wall of the bottom plate of the first support bracket 2110; a first in-place detecting component 2117 and a first stopper 2118 are sequentially fixed on the first support 2110 at a side close to the first lifting module 213 from left to right.

When in use, S1: the first incoming material detection component 2111 receives an AGV in-place signal and then transmits the AGV in-place signal to a control system (not shown), the control system controls the first conveying motor 2112 to rotate positively, the first conveying motor 2112 drives the first conveying belt 2115 to rotate positively through the primary transmission component 2113 and the secondary transmission component 2114, the bonding basket 212 conveyed by the AGV is received, and the bonding basket 212 is limited by the first stop block 2118 after being in place; the first incoming material detecting part 2111 is used for detecting whether the bonding basket 212 is completely separated from the AGV, and the first in-place detecting part 2117 is used for detecting whether the bonding basket 212 is in place; after the first in-place detecting component 2117 detects that the bonding basket 212 is in place, the jacking component 2116 stretches out to jack up the bonding basket 212, so that the bonding basket 212 is separated from the first conveying belt 2115, and the frame 2120 is prevented from shaking when the bonding carrier 216 is taken out; the bonded basket 212 is then transported to the first pick-up location (i.e., where the top bonding carriers 216 in the bonded basket 212 are flush with the first transport mechanism 22) by the first lift module 213.

As shown in fig. 1, 4 and 5, the first conveying mechanism 22 includes a second supporting frame 220, a second conveying motor 222, a first-stage transmission module 223, a second-stage transmission module 224, a second conveying belt 225, a second stop block 226, a detection module, and a first stop block 229; the second support frame 220 is fixed on the fixed bottom plate 1, a push-pull mechanism 23 is fixed on one side, close to the NG material placing area 4, of the second support frame 220, the push-pull mechanism 23 comprises a push-pull module 231, a lifting cylinder 232 and a feeding clamping jaw 233, the push-pull module 231 is fixed on the second support frame 220, the lifting cylinder 232 is connected to the push-pull module 231 in a sliding manner, and the output end of the lifting cylinder 232 faces downwards and is fixedly provided with the feeding clamping jaw 233;

as shown in fig. 1 and fig. 4, a second conveying motor 222 is fixed at one end, close to the transferring and lifting mechanism 21, of the second supporting frame 220, a first-stage transmission module 223 is rotatably connected to the output end of the second conveying motor 222, a second-stage transmission module 224 is rotatably connected to the first-stage transmission module 223, the second-stage transmission module 224 can drive a second conveying belt 225 to rotate, two second conveying belts 225 are arranged, the second conveying belts 225 are respectively rotatably connected to the inner sides of the second supporting frame 220, a second stop block 226 is fixed at two included angles, far away from one end of the transferring and lifting mechanism 21, of the second supporting frame 220, and a detection module is fixed on the second supporting frame 220; the detection module comprises a lower protection detection part 2271, a second incoming material detection part 2272, an upper protection detection part 2273 and a second in-place detection part 2274; the lower protection detection part 2271, the second incoming material detection part 2272 and the upper protection detection part 2273 are fixed at one end of the second support frame 220 close to the transfer lifting mechanism 21; the second in-place detecting member 2274 is fixed to an end of the second support frame 220 remote from the transfer lifting mechanism 21; the second incoming material detecting component 2272 is configured to detect whether the bonding carrier 216 is in the current loading position of the bonding basket 212, and the second in-place detecting component 2274 is configured to detect whether the bonding carrier 216 is in place; the lower protection detecting component 2271 is configured to detect whether the bonding carrier 216 is separated from the bonding basket 212, the upper protection detecting component 2273 is configured to detect whether the bonding carrier 216 completely enters the second conveyor belt 225, the upper protection detecting component 2273 has a signal (i.e. detects that the bonding carrier 216 does not completely enter the second conveyor belt 225), and the first lifting module 213 cannot move for up-down protection;

as shown in fig. 4 and 6, a first limiting block 229 is fixed on the second supporting frame 220 near the second stop block 226; the first jacking mechanism 24 is arranged below the second support frame 220 and far away from the transfer lifting mechanism 21, the first jacking mechanism 24 comprises a third support frame 241, a first jacking cylinder 242, a first positioning plate 243 and a first guide rod 244, the third support frame 241 is connected with the fixed bottom plate 1, the vertical section of the third support frame 241 is in a shape of a Chinese character 'kou', the first jacking cylinder 242 is fixed on the bottom wall of the third support frame 241, the first positioning plate 243 is fixed on the top wall of the first jacking cylinder 242, the first guide rods 244 are fixed at four corners of the bottom wall of the first positioning plate 243, the first guide rods 244 penetrate through the top wall of the third support frame 241, the first guide rods 244 are connected with the top wall of the third support frame 241 in a vertically sliding mode, the four corners of the top wall of the first positioning plate 243 are detachably connected with the first height-matching blocks 2432, after the first jacking cylinder 242 stretches out, the first height-matching blocks 2432 are directly contacted with the bonding carrier 216, the contact area can be effectively reduced, and the inclination degree of the bonding carrier 216 can be conveniently adjusted when the first positioning plate 243 stretches out; first positioning pins 2431 are fixed on the top wall of the first positioning plate 243 at two opposite angles near the first height-matching block 2432, and the first positioning pins 2431 can extend into first assembly holes 2163 formed on the bonding carrier 216 to precisely position the bonding carrier 216.

S2: after the bonding basket 212 is conveyed to the first material taking position, the push-pull mechanism 23 feeds back a in-place signal to the control system by the second material detecting component 2272, the control system controls the lifting cylinder 232 to extend to the in-place position, and controls the push-pull module 231 to drive the loading clamping claw 233 to push the bonding carrier 216 to the positioning rod 2122 for positioning; then the lifting cylinder 232 is controlled to retract into position by the control system, the push-pull module 231 is controlled to drive the feeding clamping claw 233 to a first material taking position, and then the lifting cylinder 232 is controlled to extend out into position, so that the output end of the feeding clamping claw 233 is inserted into a bayonet 2162 on the bonding carrier 216; then the second conveying motor 222 is controlled to rotate positively by the control system to drive the second conveying belt 225 to rotate positively, and meanwhile, the push-pull module 231 is controlled to drive the feeding clamping claw 233 to pull the bonding carrier 216 out onto the second conveying belt 225; after the operation is finished, the lifting cylinder 232 is retracted to be in position, the bonding carrier 216 is conveyed to the second stop block 226 to stop by the second conveying belt 225, and the second in-position detecting part 2274 has signal feedback; after the bonding carrier 216 is stopped by the second stop block 226, the control system controls the first jacking cylinder 242 to extend so that the bonding carrier 216 is separated from the second conveying belt 225, the bonding carrier 216 is prevented from shaking when the IGBT module is taken out, the bonding carrier 216 is precisely positioned by the first positioning pin 2431, the height and the flatness of the bonding carrier 216 lifted by the first jacking cylinder 242 are limited by the first limiting block 229, and the bonding carrier 216 is conveniently positioned when the IGBT module on the bonding carrier 216 is grasped by the later-stage robot device 3.

As shown in fig. 1 and 7, the robot device 3 includes a support base 31, a four-axis robot 32, a servo clamping jaw 33, and an automatic code scanning gun 34; the support base 31 is directly connected with the fixed bottom plate 1, one side of the support base 31, which is close to the comprehensive dust collector 5, is fixed with an automatic code scanning gun 34, a four-axis robot 32 is fixed on the top wall of the support base 31, and the output end of the four-axis robot 32 is fixed with a servo clamping jaw 33.

S3: after the bonding carrier 216 is lifted off the second conveying belt 225 by the first lifting cylinder 242, the four-axis robot 32 drives the servo clamping jaw 33 to grab the IGBT module on the bonding carrier 216 to the automatic code scanning gun 34 for scanning codes, and the IGBT module passing through the code scanning is placed on the comprehensive dust collector 5; and the IGBT module of the code scanning NG is placed in the NG material placing area 4.

S41: after the IGBT module on the bonding carrier 216 is taken out by the robot device 3, the first lifting cylinder 242 drives the first positioning plate 243 to retract, and the bonding carrier 216 falls back onto the second conveying belt 225; the second conveying motor 222 rotates reversely, the second conveying belt 225 is driven to rotate reversely to drive the bonding carrier 216 to reach one side close to the bonding basket 212, the lifting cylinder 232 stretches out to the position, and the push-pull module 231 drives the feeding clamping claw 233 to push the bonding carrier 216 into the bonding basket 212; the first lifting module 213 conveys the bonded basket 212 to a second pick-up location (i.e., where the second tier of bonding carriers 216 in the bonded basket 212 is flush with the second conveyor belt 225).

S51: and S1-S41 actions are sequentially carried out until all IGBT modules in the bonding basket 212 are taken out.

S61: after receiving the material taking completion signal, the control system controls the first lifting module 213 to convey the bonded basket 212 to the AGV for connection; the jacking component 2116 is retracted, the bonding basket 212 falls back onto the first conveying belt 2115, the first conveying motor 2112 runs reversely, the first conveying belt 2115 is driven to rotate reversely, and the bonding basket 212 of the IGBT module is conveyed back to the AGV trolley.

S71: the upper computer (not shown) controls the empty basket AGVs to leave and the full basket AGVs to enter.

The cyclic feeding methods are S1, S2, S3, S41, S51, S61 and S71.

As shown in fig. 1 and 8, the overall dust collector 5 includes a servo rotary table 51, a first turnover mechanism 52, a dust collector 53, and a second turnover mechanism 54; a first turnover mechanism 52 is arranged on one side, away from the automatic code scanning gun 34, of the servo rotary table 51, a second turnover mechanism 54 and a dust removal mechanism 53 are arranged on one side, away from the push-pull mechanism 23, of the servo rotary table 51, and four stations are sequentially arranged from the first turnover mechanism 52 in a clockwise rotation mode: a turnover bit B, a turnover dust removal bit C, a discharging bit D and a loading bit A; the servo rotary table 51 comprises a table body 510, a driving motor 511, a cam divider 512 and a positioning seat 513; a driving motor 511 is fixed on one side, close to the push-pull mechanism 23, of the bottom wall of the table body 510, a cam divider 512 is fixed at the output end of the driving motor 511, and the cam divider 512 can control the table body 510 to rotate; four operation ports 5101 are formed in the periphery of the table body 510 in a penetrating manner at intervals, positioning seats 513 are fixed on the top wall of the table body 510 at the four operation ports 5101, and the positioning seats 513 are all in vertical penetrating manner; the dust removing mechanism 53 is located below the table body 510 and is arranged parallel to the second turnover mechanism 54, and when in operation, the output end of the dust removing mechanism 53 faces the opening on the positioning seat 513.

As shown in fig. 8 and 9, the second tilting mechanism 54 is identical to the first tilting mechanism 52 in structure, and the first tilting mechanism 52 is taken as an example for description; the first tilting mechanism 52 includes a tilting base 521, a second lifting module 522, a rotary cylinder 523, and a clamping cylinder 524; the turnover base 521 is connected with the fixed bottom plate 1, is fixed with the second on the turnover base 521 and promotes the module 522, and the one side that is close to servo revolving desk 51 on the second promotes the module 522 sliding connection has the revolving cylinder 523, and the output of revolving cylinder 523 is fixed with the clamp cylinder 524, and clamp cylinder 524 can snatch the IGBT module.

As shown in fig. 1, 8 and 10, the dust removing mechanism 53 includes a dust removing base 531, a second lifting cylinder 532, a mounting base 533, a pneumatic dust removing plate 534, an air suction module, an air tap 536 and an air blowing module; the dust removal base 531 is directly connected with the fixed bottom plate 1, the second jacking cylinder 532 is fixed on the dust removal base 531, the output end of the second jacking cylinder 532 is fixedly provided with a mounting seat 533, the mounting seat 533 is hollow, the top wall of the mounting seat 533 is fixedly provided with a pneumatic dust removal plate 534, a plurality of air suction holes 5341 are formed in the pneumatic dust removal plate 534 in a penetrating manner, a plurality of air blowing holes (not shown) are formed in the pneumatic dust removal plate 534 in a penetrating manner, the air suction holes 5341 and the air blowing holes are arranged in a staggered manner, the top wall of the pneumatic dust removal plate 534 is fixedly provided with a plurality of adaptive air nozzles 536 at the air blowing holes, and the air nozzles 536 and the air blowing holes are communicated; an air suction module is communicated with one side wall of the mounting seat 533, the air suction module comprises a plurality of elbows 5351 and a vacuum generator (not shown), the elbows 5351 are all fixed on the side wall of the mounting seat 533, the input end of each elbow 5351 is communicated with the air suction hole 5341, the output end of each elbow 5351 is communicated with the vacuum generator through a pipeline, negative pressure can be formed in the vacuum generator to generate suction force during operation, and a filter (not shown) is further arranged on the pipeline between the elbow 5351 and the vacuum generator; the other side wall of the mounting seat 533 is communicated with an air blowing module, the air blowing module comprises a speed regulating valve 5371 and an electromagnetic valve 5372, the speed regulating valves 5371 are provided with a plurality of air blowing modules, the air blowing modules are all fixed on the side wall of the mounting seat 533, the output end of the speed regulating valve 5371 is communicated with the air tap 536, and the input end of the speed regulating valve 5371 is communicated with the electromagnetic valve 5372 through a pipeline; can let in pure compressed air through solenoid valve 5372, compressed air can spray out through air cock 536, accomplishes the action of blowing, through the setting of speed control valve 5371 for avoid blowing when blowing and turn over the IGBT module.

S42: after the IGBT module is placed on the loading position a by the robot device 3, the driving motor 511 drives the cam divider 512 to rotate the table 510 clockwise to the turning position B.

S52: after the IGBT module rotates to the overturning position B, the second lifting module 522 drives the rotary cylinder 523 and the clamping cylinder 524 to descend to the proper position, the clamping cylinder 524 is controlled to clamp the IGBT module, the second lifting module 522 drives the rotary cylinder 523 and the clamping cylinder 524 to ascend to the proper position, the IGBT module is overturned by the rotary cylinder 523, after the overturning is completed, the second lifting module 522 drives the rotary cylinder 523 and the clamping cylinder 524 to descend to the proper position, the IGBT module is placed on the positioning seat 513, and then the second lifting module 522 ascends to the proper position, so that the overturning action of the IGBT module is completed; the driving motor 511 drives the cam divider 512 to rotate the table body 510 to the turnover dust removing position C.

S62: after the IGBT module rotates to the overturning dust removing position C, the second jacking cylinder 532 drives the mounting seat 533 to jack up in place, a dust removing program is started, and in the dust removing process, the air suction module and the air blowing module work simultaneously to finish dust removal of the IGBT module; after the dust removal of one side of the IGBT module is finished, the second turnover mechanism 54 turns over the IGBT module and removes dust of the other side of the IGBT module; after the double-sided dust removal is finished, the driving motor 511 drives the cam divider 512 to rotate the table body 510 to the discharging level D.

As shown in fig. 1 and 11, the blanking device 6 includes a second conveying mechanism 62 and a second lifting mechanism 63, and the second lifting mechanism 63 is arranged below the output end of the second conveying mechanism 62;

as shown in fig. 1 and 11, the second conveying mechanism 62 includes a fourth supporting frame 620, a third conveying motor 622, a driving wheel 623, a third conveying belt 625, a stop cylinder 626, an in-place detecting module 627 and a second limiting block 629; the fourth support frame 620 is directly connected with the fixed bottom plate 1, one side, far away from the NG material placement area 4, of the fourth support frame 620 is fixedly provided with a third conveying motor 622, the output end of the third conveying motor 622 is rotationally connected with a driving wheel 623, the driving wheel 623 is perpendicular to two vertical plates of the fourth support frame 620, a third conveying belt 625 is sleeved on the driving wheel 623, which is close to the two vertical plates of the fourth support frame 620, three groups of glue pouring carriers 64 are sequentially placed on the third conveying belt 625 along the conveying direction (the direction of arrow in fig. 1), one group of IGBT modules are used for receiving the transfer of the robot device 3, and the other two groups of IGBT modules are used for caching the glue pouring carriers 64; the stop cylinder 626 and the in-place detection module 627 are provided with three sets of stop cylinders 626 and in-place detection modules 627 which are respectively arranged at the output ends of the three groups of glue pouring carriers 64, and the stop cylinders 626 and the in-place detection modules 627 are both fixed on the fourth supporting frame 620; the output end side of the fourth support frame 620 is provided with a second limiting block 629 near four corners of the glue filling carrier 64, and the lower part of the output end of the fourth support frame 620 is provided with a second lifting mechanism 63.

As shown in fig. 11 and 12, the second lifting mechanism 63 includes a fifth support frame 631, a third lifting cylinder 632, a second positioning plate 633, and a second guiding rod 634, where the fifth support frame 631 is connected to the fixed bottom plate 1, the vertical section of the fifth support frame 631 is in a shape of a "mouth", the bottom wall of the fifth support frame 631 is fixed with the third lifting cylinder 632, the output end of the third lifting cylinder 632 extends out of the top wall of the fifth support frame 631 to fix the second positioning plate 633, four corners of the bottom wall of the second positioning plate 633 are all fixed with the second guiding rod 634, the second guiding rod 634 penetrates through the top wall of the fifth support frame 631, the four corners of the top wall of the second positioning plate 633 are all detachably connected with the second height-matching blocks 6332, and after the third lifting cylinder 632 extends out, the second height-matching blocks 6332 are directly contacted with the glue-pouring carrier 64, so that the contact area can be effectively reduced, and the flatness of the glue-pouring carrier 64 can be conveniently adjusted when the second positioning plate 633 tilts; the top wall of the second positioning plate 633 is fixed with second positioning pins 6331 at two opposite angles near the second height matching block 6332, and the second positioning pins 6331 can extend into second assembly holes 641 formed in the glue pouring carrier 64 to accurately position the glue pouring carrier 64;

s72: after the glue filling carrier 64 is stopped by the stop cylinder 626, the in-place detection module 627 feeds signals back to the control system, the control system controls the third jacking cylinder 632 to extend to enable the glue filling carrier 64 to be separated from the third conveying belt 625, the glue filling carrier 64 is prevented from shaking when the IGBT module is placed, the glue filling carrier 64 is precisely positioned by the second positioning pin 6331, the height and the flatness of the glue filling carrier 64 jacked by the third jacking cylinder 632 are limited by the second limiting block 629, and the later-stage robot device 3 is convenient to position when the IGBT module is placed on the glue filling carrier 64.

S82: the robot device 3 is then controlled to transfer the IGBT module from the blanking position D onto the glue filling carrier 64, and the above-described actions are repeated until the whole glue filling carrier 64 is filled, the stop cylinder 626 descends and passes, and the glue filling carrier 64 flows into the glue filling station.

The conveying disc changing methods are S1, S2, S3, S42, S52, S62, S72 and S82.

The above embodiments are only for illustrating the technical solution of the present utility model, and are not limiting; although the utility model has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present utility model.

Claims (10)

1. The transistor module feeding and disc changing system is characterized by comprising a circulating feeding device (2), a robot device (3) and a discharging device (6);

a bonding carrier (216) is arranged on the circulating feeding device (2), and a glue filling carrier (64) is arranged on the discharging device (6);

the robotic device (3) is capable of transferring transistor modules on a bonding carrier (216) onto a glue-pouring carrier (64);

circulation loading attachment (2) are including transporting hoist mechanism (21), first conveying mechanism (22), first climbing mechanism (24), it is close to the input setting of first conveying mechanism (22) to transport hoist mechanism (21), the output below of first conveying mechanism (22) is provided with first climbing mechanism (24), first conveying mechanism (22) can transport bonding carrier (216), first climbing mechanism (24) can be with bonding carrier (216) top from first conveying mechanism (22) and fix a position.

2. The transistor module loading tray changing system according to claim 1, wherein: the blanking device (6) comprises a second conveying mechanism (62) and a second jacking mechanism (63), wherein the second jacking mechanism (63) is arranged below the output end of the second conveying mechanism (62), and the second jacking mechanism (63) can jack the glue filling carrier (64) away from the second conveying mechanism (62) and position the glue filling carrier.

3. A transistor module loading tray changing system according to claim 2, wherein: the first conveying mechanism (22) comprises a second supporting frame (220), a second conveying motor (222), a first-stage transmission module (223), a second-stage transmission module (224), a second conveying belt (225) and a second stop block (226), the second conveying motor (222) is fixed on the second supporting frame (220), the output end of the second conveying motor (222) is rotationally connected with the first-stage transmission module (223), the first-stage transmission module (223) is rotationally connected with the second-stage transmission module (224), the second-stage transmission module (224) can drive the second conveying belt (225) to rotate, the second conveying belt (225) is provided with two, the two second conveying belts (225) are respectively rotationally connected to the inner side of the second supporting frame (220), and the second stop blocks (226) are respectively fixed at two included angles of the output end of the second supporting frame (220).

4. A transistor module loading tray changing system according to claim 3, wherein: the first conveying mechanism (22) further comprises a detection module, the detection module comprises a lower protection detection component (2271), a second incoming material detection component (2272), an upper protection detection component (2273) and a second in-place detection component (2274), and the lower protection detection component (2271), the second incoming material detection component (2272) and the upper protection detection component (2273) are fixed on the input end of the second support frame (220); the second in-place detecting component (2274) is fixed on the output end of the second supporting frame (220).

5. A transistor module loading tray changing system according to claim 3, wherein: the first conveying mechanism (22) further comprises a first limiting block (229), and the first limiting blocks (229) are fixed on the second supporting frame (220) close to the second stop blocks (226); a first jacking mechanism (24) is arranged below the output end of the second supporting frame (220).

6. The transistor module loading tray changing system according to claim 5, wherein: the first jacking mechanism (24) comprises a third support frame (241), a first jacking cylinder (242), a first positioning plate (243) and a first guide rod (244), wherein the vertical section of the third support frame (241) is in a shape of a 'mouth', the first jacking cylinder (242) is fixed on the bottom wall of the third support frame (241), the top wall of the third support frame (241) extends out of the output end of the first jacking cylinder (242) to be fixed with the first positioning plate (243), the first guide rods (244) are fixed at the four corners of the bottom wall of the first positioning plate (243), the first guide rods (244) penetrate through the top wall of the third support frame (241) to be arranged, and the first guide rods (244) are connected with the top wall of the third support frame (241) in a sliding mode.

7. The transistor module loading tray changing system according to claim 6, wherein: the bonding carrier (216) is provided with a first assembly hole (2163); the four corners of the top wall of the first positioning plate (243) are detachably connected with first height matching blocks (2432), and first positioning pins (2431) matched with the first assembly holes (2163) are fixed on the two opposite corners of the top wall of the first positioning plate (243) close to the first height matching blocks (2432).

8. A transistor module loading tray changing system according to claim 2, wherein: the second conveying mechanism (62) comprises a fourth supporting frame (620), a third conveying motor (622), a driving wheel (623), a third conveying belt (625), a stop cylinder (626) and a in-place detection module (627), wherein the third conveying motor (622) is fixed on the fourth supporting frame (620), the driving wheel (623) is rotationally connected to the output end of the third conveying motor (622), the driving wheel (623) is perpendicular to two vertical plates of the fourth supporting frame (620), the third conveying belt (625) is sleeved on the driving wheel (623) at the positions, close to the two vertical plates of the fourth supporting frame (620), of the third conveying belt (625), three groups of glue pouring carriers (64) are sequentially placed on the third conveying belt (625) along the conveying direction, one group of transistor modules are used for receiving the transfer of the robot device (3), and the other two groups of transistor modules are used for caching the glue pouring carriers (64). The stop cylinder (626) and the in-place detection module (627) are provided with three sets, the three sets of stop cylinder (626) and the in-place detection module (627) are respectively arranged at the output ends of the three groups of glue filling carriers (64), and the stop cylinder (626) and the in-place detection module (627) are both fixed on the fourth support frame (620).

9. The transistor module loading changer system of claim 8, wherein: the second conveying mechanism (62) further comprises a second limiting block (629), the second limiting blocks (629) are fixed at four corners of the fourth support frame (620) close to the glue filling carrier (64), and a second jacking mechanism (63) is arranged below the output end of the fourth support frame (620).

10. The transistor module loading changer system of claim 9, wherein: the glue pouring carrier (64) is provided with a second assembly hole (641); the second jacking mechanism (63) comprises a fifth support frame (631), a third jacking cylinder (632), a second positioning plate (633) and a second guide rod (634), wherein the vertical section of the fifth support frame (631) is in a shape of a 'mouth', the third jacking cylinder (632) is fixed on the bottom wall of the fifth support frame (631), the second positioning plate (633) is fixed on the top wall of the third jacking cylinder (632) extending out of the fifth support frame (631), the second guide rods (634) are fixed at four corners of the bottom wall of the second positioning plate (633), the second guide rods (634) penetrate through the top wall of the fifth support frame (631), the second positioning plates (634) are connected with second matching high blocks (6332) in a detachable mode at four corners of the top wall of the second positioning plate (633), and second positioning pins (6331) which are matched with second matching holes (641) are fixed at two opposite corners close to the second matching high blocks (6332).