Automatic nozzle switching mechanism and switching method

Abstract

The present invention relates to an automatic switching mechanism for suction nozzles and a switching method, comprising a suction nozzle, a suction nozzle storage base and a picking arm for fixing the suction nozzle; a plurality of suction nozzle positioning blocks are evenly distributed circumferentially on the side wall of the suction nozzle, a movable groove is provided on the suction nozzle storage base, a suction nozzle accommodating groove and a positioning groove adapted to the suction nozzle positioning block are provided at the bottom of the movable groove; it also includes a suction nozzle storage cover plate covered on the suction nozzle storage base, the suction nozzle storage cover plate is provided with movable holes and avoidance holes for the suction nozzle and the suction nozzle positioning block to pass through respectively, the avoidance hole and the positioning groove are not directly opposite, and the picking arm is driven to move by a manipulator to realize rapid switching of the suction nozzle, which not only greatly improves the production efficiency, but also ensures the accuracy of the suction nozzle entering the warehouse through the suction nozzle positioning block, and avoids the error in picking up the chip caused by the inaccurate position of the suction nozzle.

Description

Technical Field

[0001] The present invention relates to the technical field of suction nozzles, and in particular to an automatic switching mechanism and a switching method for suction nozzles. Background Art

[0002] At present, when the semiconductor equipment is loading components, the loading materials cannot be unified. Every time a material is changed, it is necessary to stop the machine and manually replace the nozzle, resulting in low production efficiency. For this reason, after a long period of research and development and design, our company has proposed an automatic nozzle switching mechanism and switching method to solve the above problem. Summary of the invention

[0003] The purpose of the present invention is to provide an automatic nozzle switching mechanism and a switching method to address the deficiencies in the prior art, and the automatic nozzle switching mechanism and the switching method can well solve the above-mentioned problems.

[0004] In order to achieve the above requirements, the technical solution adopted by the present invention to solve its technical problems is:

[0005] Provided is a suction nozzle automatic switching mechanism, comprising a suction nozzle, a suction nozzle storage base and a picking arm for picking up the suction nozzle; a plurality of suction nozzle positioning blocks are evenly distributed circumferentially on the side wall of the suction nozzle, a movable groove is provided on the suction nozzle storage base, a suction nozzle accommodating groove and a positioning groove adapted to the suction nozzle positioning block are provided at the bottom of the movable groove; further comprising a suction nozzle storage cover plate covered on the suction nozzle storage base, the suction nozzle storage cover plate being provided with movable holes and avoidance holes for respectively allowing the suction nozzle and the suction nozzle positioning block to pass through, the avoidance hole being not directly opposite to the positioning groove.

[0006] The automatic nozzle switching mechanism of the present invention comprises the following steps: the cross section of the nozzle positioning block is an inverted triangle, and the positioning groove is a V-shaped groove matched with the nozzle positioning block.

[0007] The automatic switching mechanism for suction nozzles of the present invention is characterized in that the picking arm is detachably connected to the suction nozzle.

[0008] The automatic switching mechanism for suction nozzles described in the present invention, wherein the picking arm includes a fixed plate for fixing the suction nozzle and an adjusting arm for adjusting the fixed plate; a hemispherical protrusion is provided at the upper end of the fixed plate, an adjusting plate is provided on the adjusting arm, an adjusting groove is provided on the adjusting plate corresponding to the hemispherical protrusion, an adjusting screw is provided on the adjusting plate for connecting the fixed plate, a fixing groove for positioning the suction nozzle is provided at the bottom of the fixed plate, and a magnet for adsorbing the suction nozzle is provided on the bottom surface of the fixing groove.

[0009] The automatic switching mechanism for a suction nozzle described in the present invention, wherein the suction nozzle includes a suction nozzle seat adapted to the fixed groove, and a suction nozzle body arranged on the side of the suction nozzle seat away from the fixed disk; a clamping groove is provided on the bottom surface of the fixed groove, and a boss adapted to the clamping groove is provided on the suction nozzle seat, and a guide slope is provided on the upper end edge of the boss, and a first air duct connected to the internal channel of the suction nozzle body is provided on the upper surface of the boss, and a second air duct that passes through the hemispherical protrusion is provided on the bottom surface of the clamping groove, and a third air duct and a fourth air duct connecting the second air duct and the clamping groove are respectively provided on the outer side wall of the fixed disk, and a sealing pipe fitting that connects the first air duct and the second air duct is provided in the clamping groove.

[0010] The automatic nozzle switching mechanism of the present invention comprises four nozzle positioning blocks, and the four nozzle positioning blocks are evenly arranged on the side wall of the nozzle seat in a circumferential direction.

[0011] The automatic nozzle switching mechanism described in the present invention, wherein the nozzle positioning block is located at the lower end of the nozzle seat, a nozzle positioning pin is provided at the upper end of the side wall of the nozzle seat, and an avoidance groove for avoiding the nozzle positioning pin is provided on the side wall of the fixing groove.

[0012] The automatic switching mechanism for suction nozzles of the present invention is characterized in that the channel, the first air duct, the sealing tube and the second air duct are all coaxial, and the regulating disk is provided with a through hole, which is coaxial with the second air duct.

[0013] The automatic nozzle switching mechanism of the present invention comprises the movable groove, the nozzle accommodating groove and the positioning groove forming a unit, wherein the unit is provided in plurality and the plurality of the units are arranged in a straight line on the nozzle storage base.

[0014] A nozzle switching method of the nozzle automatic switching mechanism is also provided, and the steps for implementing the switching are as follows:

[0015] Step 1: The robot drives the pick-up arm to move to the first specified height above the base of the nozzle library, calibrates the position of the nozzle and the movable hole, and calibrates the position of the nozzle positioning block and the avoidance hole and puts them in place;

[0016] Step 2: The robot drives the pick-up arm down to the second designated height so that the nozzle positioning block enters the movable slot, calibrates the position of the nozzle positioning block and the positioning slot and puts them in place, separates the nozzle from the pick-up arm, stores the nozzle in the receiving slot for storage, and the pick-up arm rises and resets to the first designated height;

[0017] The third step: the robot drives the picking arm to move to the first specified height above the pre-switching nozzle, the picking arm descends to the third specified height, the picking arm picks up the pre-switching nozzle and rises to the second specified height to move the nozzle positioning block out of the positioning groove, calibrate the position of the nozzle positioning block and the avoidance hole and put them in place, the robot rises again to drive the nozzle to the first specified height and reset it for delivery.

[0018] The beneficial effects of the present invention are as follows: the present invention discloses an automatic switching mechanism and a switching method for a suction nozzle, and the placement process of the suction nozzle: the equipment robot drives the picking arm to the position of the base of the suction nozzle warehouse, first moves to the specified position where the suction nozzle needs to be placed, that is, directly above the active hole, and then uses the equipment robot to rotate the suction nozzle to a certain angle so that the suction nozzle positioning block is aligned with the avoidance hole. The robot drives the suction nozzle to move to a specified height to enter the active groove, and then uses the equipment robot to rotate the suction nozzle back to the original angle again. The suction nozzle is separated from the picking arm, and then the robot moves upward, and the suction nozzle is placed in the suction nozzle warehouse, completing the placement process of the suction nozzle.

[0019] The switching process of the nozzle: the equipment robot drives the nozzle to the position of the nozzle warehouse base, first moves to the position where the nozzle to be replaced is placed, that is, directly above the movable hole, the robot drives the nozzle downward to the specified position, the picking arm picks up the nozzle, and then uses the equipment robot to rotate the nozzle to a certain angle so that the nozzle positioning block is aligned with the avoidance hole and further rises, the robot drives the nozzle to move to the specified height, and again uses the equipment robot to rotate the nozzle structure to the original angle to complete the nozzle switching process.

[0020] The robot drives the picking arm to move and quickly switch the nozzle, which not only greatly improves the production efficiency, but also ensures the accuracy of the nozzle entering the warehouse through the nozzle positioning block, avoiding errors in picking chips due to inaccurate nozzle position. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the present invention will be further described below in conjunction with the accompanying drawings and embodiments. The drawings described below are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work:

[0022] Figure 1 It is a schematic diagram of the overall structure of the automatic switching mechanism for suction nozzles of the present invention.

[0023] Figure 2 It is a structural diagram of the nozzle storage base of the automatic nozzle switching mechanism of the present invention.

[0024] Figure 3 It is an exploded diagram of the automatic switching mechanism for the suction nozzle of the present invention and the suction nozzle structure.

[0025] Figure 4 It is a structural diagram of the clamping arm of the automatic nozzle switching mechanism of the present invention.

[0026] Figure 5 It is a structural diagram of the fixed disk of the automatic switching mechanism of the suction nozzle of the present invention.

[0027] Figure 6 It is a top view of the suction nozzle and the pick-up arm of the automatic suction nozzle switching mechanism of the present invention installed in place.

[0028] Figure 7 yes Figure 6 DD cross-sectional view.

[0029] Figure 8 It is a flow chart of the nozzle switching method of the automatic nozzle switching mechanism of the present invention. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the following will be described clearly and completely in combination with the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are partial embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work belong to the protection scope of the present invention.

[0031] The automatic nozzle switching mechanism of the preferred embodiment of the present invention is as follows: Figure 1-8 As shown, it includes a suction nozzle 1, a suction nozzle warehouse base 2 and a picking arm 3 for picking up the suction nozzle 1; a plurality of suction nozzle positioning blocks 4 are evenly distributed on the side wall of the suction nozzle 1 in the circumferential direction, and a movable groove 5 is provided on the suction nozzle warehouse base 2, and the movable groove 5 can allow the suction nozzle positioning block 4 to rotate and move, and a suction nozzle accommodating groove 6 and a positioning groove 7 adapted to the suction nozzle positioning block 4 are provided at the bottom of the movable groove 5; the present mechanism also includes a suction nozzle warehouse cover plate 8 covered on the suction nozzle warehouse base 2, and the suction nozzle warehouse cover plate 8 is provided with an active hole 9 and an avoidance hole 10 for the suction nozzle 1 and the suction nozzle positioning block 4 to pass through respectively, and the avoidance hole 10 is not directly opposite to the positioning groove 7 so as to limit the suction nozzle 1 above the suction nozzle 1. Specifically, each suction nozzle The nozzle positioning block 4 is located below the middle of the two adjacent avoidance holes 10; the placement process of the nozzle: the equipment robot drives the picking arm 3 to the position of the nozzle warehouse base 2, and first moves to the designated position where the nozzle 1 needs to be placed, that is, directly above the active hole 9, and then uses the equipment robot to rotate the nozzle 1 to a certain angle so that the nozzle positioning block 4 is aligned with the avoidance hole 10. The robot drives the nozzle 1 to move to the designated height and enter the active groove 5, and then uses the equipment robot to rotate the nozzle 1 to the original angle again. The nozzle 1 is separated from the picking arm 3, and then the robot moves upward, and the nozzle 1 is placed in the nozzle 1 warehouse, completing the placement process of the nozzle 1.

[0032] The switching process of the suction nozzle: the equipment robot drives the suction nozzle 1 to the position of the suction nozzle warehouse base 2, and first moves to the position where the suction nozzle 1 to be replaced is placed, that is, directly above the movable hole 9. The robot drives the suction nozzle 1 downward to the specified position, and the picking arm 3 picks up the suction nozzle 1. Then, the equipment robot rotates the suction nozzle 1 by a certain angle to align the suction nozzle positioning block 4 with the avoidance hole 10 and further rises. The robot drives the suction nozzle 1 to move to the specified height, and the equipment robot is used again to rotate the suction nozzle 1 structure to the original angle to complete the switching process of the suction nozzle 1.

[0033] The picking arm 3 is driven by the manipulator to move and thus the suction nozzle 1 can be quickly switched, which not only greatly improves the production efficiency, but also has a simple structure and is easy to operate. The required suction nozzle 1 can be automatically switched to suck components according to the different specifications of the sucked materials, and different components on the same substrate can also be mounted. At the same time, the suction nozzle positioning block 4 is used to ensure the accuracy of the suction nozzle 1 entering the warehouse, thereby avoiding errors in picking up chips caused by inaccurate position of the suction nozzle 1.

[0034] Preferably, the cross-section of the nozzle positioning block 4 is an inverted triangle, and the positioning groove 7 is a V-shaped groove adapted to the nozzle positioning block 4. The nozzle positioning block 4 and the positioning groove 7 both adopt a V-shaped structure, so that the nozzle 1 will not swing in the nozzle 1 library, ensuring accurate positioning.

[0035] Preferably, the picking arm 3 is detachably connected to the suction nozzle 1 to facilitate fixing and separation from the suction nozzle 1, which can usually be achieved by using a picking structure such as a mechanical clamp, a vacuum suction cup, etc.

[0036] Preferably, the picking arm 3 includes a fixing plate 301 for fixing the suction nozzle 1 and an adjusting arm 302 for adjusting the fixing plate 301; a hemispherical protrusion 11 is provided at the upper end of the fixing plate 301, an adjusting plate 12 is provided on the adjusting arm 302, an adjusting groove 13 is provided on the adjusting plate 12 corresponding to the hemispherical protrusion 11, and three adjusting screws 14 connected to the fixing plate 301 are provided on the adjusting plate 12. The three adjusting screws 14 are distributed at an angle of 120° to each other, and a horizontal adjustment mechanism for the suction nozzle 1 is added. The level of the suction nozzle 1 can be adjusted before work to ensure the mounting accuracy of the equipment. When adjusting, the adjusting screw 14 can be turned to adjust the inclination of the corresponding position of the fixing plate 301 to correct it to a horizontal level. A fixing groove 15 for positioning the suction nozzle 1 is provided at the bottom of the fixing plate 301, and a magnet 16 for adsorbing the suction nozzle 1 is provided on the bottom surface of the fixing groove 15 to adsorb the suction nozzle 1, so as to facilitate the separation of the suction nozzle 1 from the fixing plate 301 after storage. The structure is simple and the picking effect is excellent.

[0037] Preferably, the suction nozzle 1 includes a suction nozzle seat 101 adapted to the fixing groove 15, and a suction nozzle body 102 arranged on the side of the suction nozzle seat 101 away from the fixing plate 301; specifically, the suction nozzle seat 101 includes a clamping arm 1a for clamping the suction nozzle body 102, a locking nut 1b for locking the suction nozzle body 102 on the clamping arm 1a, and a fixing seat 1c for fixing the clamping arm 1a; the fixing seat 1c is provided with a fixing hole 17 for the clamping arm 1a to pass through, and the lower end of the clamping arm 1a is provided with a plurality of clamping pieces 18 distributed in an annular shape for clamping the suction nozzle body 102, and the outer side of the clamping piece 18 is provided with a tightening inclined surface 19, and the clamping arm The upper end of 1a is provided with a threaded section 20 adapted to the locking nut 1b. When the nozzle body 102 is inserted between the plurality of clamping pieces 18, the locking nut 1b is put on the clamping piece 18 and tightened, and the nozzle body 102 is clamped and fixed with the locking inclined surface 19. In order to facilitate the fixation, a disc 21 is provided at the upper end of the clamping arm 1a to fix the clamping arm 1a. The nozzle positioning block 4 is arranged on the side wall of the fixing seat 1c. The fixing method of the nozzle adopts a clamping type, which can ensure that the nozzle and the nozzle clamping arm are concentric, and can be more simple and convenient when replacing the nozzle; a clamping groove 22 is provided on the bottom surface of the fixing groove 15, and the nozzle seat 1 01 is provided with a boss 23 adapted to the snap-in groove 22, and the upper edge of the boss 23 is provided with a guiding slope 24 to facilitate the boss to snap into the snap-in groove 22 for quick installation; the upper surface of the boss 23 is provided with a first air channel 26 connected to the internal channel 25 of the nozzle body 102, and the bottom surface of the snap-in groove 22 is provided with a second air channel 27 that runs through the top of the hemispherical protrusion 11. Specifically, a transparent sealing plate 28 for sealing the second air channel 27 is provided on the top of the hemispherical protrusion 11, and a third air channel 29 and a fourth air channel 30 connecting the second air channel 27 and the snap-in groove 22 are respectively provided on the outer side wall of the fixed disk 301. A sealing pipe 31 for connecting the first air channel 26 and the second air channel 27 is provided in 22, and a first air nozzle 32 and a second air nozzle 33 are provided on the fixed plate 301 corresponding to the third air channel 29 and the fourth air channel 30 respectively. A sealing ring 34 is provided on the bottom surface of the fixed groove 15 around the clamping groove 22. When working, the negative pressure air source is connected through the first air nozzle 32, and then the chip is sucked by the nozzle body 102; the negative pressure air source is connected through the second air nozzle 33, and the nozzle seat 101 is adsorbed in the fixed groove 15. Through the two adsorption methods of vacuum adsorption and magnet 16 adsorption, the nozzle 1 can be further prevented from shaking, thereby ensuring the working stability.

[0038] Preferably, four nozzle positioning blocks 4 are provided, and the four nozzle positioning blocks 4 are evenly arranged on the side wall of the nozzle seat 101 in the circumferential direction. Specifically, the four nozzle positioning blocks 4 are distributed at an angle of 90° to each other, ensuring that the nozzle positioning blocks 4 are not tilted when placed in the accommodating groove from four directions.

[0039] Preferably, the nozzle positioning block 4 is located at the lower end of the nozzle seat 101, and a nozzle positioning pin 35 is provided at the upper end of the side wall of the nozzle seat 101. Specifically, the nozzle positioning pin 35 is arranged on the side wall of the disk 21, and an avoidance groove 36 for avoiding the nozzle positioning pin 35 is provided on the side wall of the fixed groove 15. The positioning pin is provided to locate the position of the nozzle 1 in the fixed groove 15 to prevent the nozzle 1 from rotating and misaligned.

[0040] Preferably, the first air channel 26, the sealing tube 31, the second air channel 27 and the channel 25 of the nozzle body 102 are all coaxial, and a through hole is provided on the adjustment disk 12. Specifically, the adjustment groove 13 passes through the adjustment disk 12 to form the aforementioned through hole, and the through hole is coaxial with the second air channel 27. The coaxial arrangement can facilitate the configuration of the visual recognition system to identify the relative position of the nozzle 1 and the chip. Compared with the traditional side positioning, the positioning accuracy of the chip can be greatly improved.

[0041] Preferably, the movable groove 5, the nozzle accommodating groove 6 and the positioning groove 7 form a unit, and a plurality of units are provided, and the plurality of units are arranged in a straight line on the nozzle storage base 2 to facilitate operation and switching.

[0042] A method for switching a nozzle 1 of an automatic switching mechanism for a nozzle 1, wherein the steps for switching are as follows:

[0043] The first step S10: In the initial state, the working angle of the nozzle is zero degrees, and the manipulator drives the picking arm 3 to move to the first specified height above the nozzle storage base 2. The first specified height can be set according to the actual situation, and the position of the nozzle 1 and the movable hole 9 is calibrated. The position of the nozzle positioning block 4 and the avoidance hole 10 is further calibrated and in place, and the manipulator drives the nozzle to rotate horizontally 45° for alignment calibration;

[0044] The second step S20: the manipulator drives the picking arm 3 to descend to the second specified height so that the nozzle positioning block 4 enters the movable slot 5. The second specified height can be set according to the actual situation. The position of the nozzle positioning block 4 and the positioning slot 7 is calibrated and in place. The manipulator drives the nozzle to rotate 45° in the opposite direction horizontally for alignment calibration. The nozzle 1 is separated from the picking arm 3. Specifically, since the nozzle seat 101 and the fixed disk 301 are connected by vacuum adsorption and magnetic adsorption, when the nozzle positioning block 4 is aligned with the positioning slot 7, the manipulator rises, so that the nozzle positioning block 4 is blocked by the nozzle warehouse cover 8, and the manipulator continues to rise, so that the nozzle 1 is separated from the fixed disk 301, so that the nozzle 1 is stored in the accommodating slot for storage, and the picking arm 3 rises and resets to the first specified height, and continues to move to the workstation for processing and production;

[0045] The third step S30: the robot drives the picking arm 3 to move to the first specified height above the pre-switching nozzle 1, and the picking arm 3 descends to the third specified height, which can be set according to the actual situation. The picking arm 3 picks up the pre-switching nozzle 1 and rises to the second specified height to move the nozzle positioning block 4 out of the positioning groove 7, calibrate the position of the nozzle positioning block 4 and the avoidance hole 10 and put them in place, and the robot drives the nozzle to rotate 45° horizontally forward or reversely for alignment and calibration, and the robot rises again to drive the nozzle 1 to the first specified height and reset it for delivery.

[0046] It should be noted that the manipulator can be implemented by a multi-axis manipulator or an X / Y / Z axis motion system, which is the existing technology and will not be described in detail.

[0047] It should be understood that those skilled in the art can make improvements or changes based on the above description, and all these improvements and changes should fall within the scope of protection of the appended claims of the present invention.

Claims

1. A nozzle automatic switching mechanism, characterized in that: It comprises a suction nozzle, a suction nozzle storage base and a picking arm for picking up the suction nozzle; a plurality of suction nozzle positioning blocks are evenly distributed circumferentially on the side wall of the suction nozzle, a movable groove is provided on the suction nozzle storage base, and a suction nozzle accommodating groove and a positioning groove adapted to the suction nozzle positioning block are provided at the bottom of the movable groove; it also comprises a suction nozzle storage cover plate covered on the suction nozzle storage base, and the suction nozzle storage cover plate is provided with movable holes and avoidance holes for the suction nozzle and the suction nozzle positioning block to pass through respectively, and the avoidance hole is not directly opposite to the positioning groove; The cross section of the nozzle positioning block is an inverted triangle, and the positioning groove is a V-shaped groove adapted to the nozzle positioning block; the pick-up arm is detachably connected to the nozzle; The pickup arm comprises a fixing plate for fixing the suction nozzle and an adjusting arm for adjusting the fixing plate; a hemispherical protrusion is provided on the upper end of the fixing plate, an adjusting plate is provided on the adjusting arm, an adjusting groove is provided on the adjusting plate corresponding to the hemispherical protrusion, an adjusting screw connected to the fixing plate is provided on the adjusting plate, a fixing groove for positioning the suction nozzle is provided at the bottom of the fixing plate, and a magnet for adsorbing the suction nozzle is provided on the bottom surface of the fixing groove; The suction nozzle comprises a suction nozzle seat adapted to the fixed groove, and a suction nozzle body arranged on the suction nozzle seat at a side away from the fixed plate; a clamping groove is arranged on the bottom surface of the fixed groove, a boss adapted to the clamping groove is arranged on the suction nozzle seat, a guiding inclined surface is arranged on the upper end edge of the boss, a first air channel connected to the internal channel of the suction nozzle body is arranged on the upper surface of the boss, a second air channel penetrating the hemispherical protrusion is arranged on the bottom surface of the clamping groove, a third air channel and a fourth air channel connecting the second air channel and the clamping groove are respectively arranged on the outer side wall of the fixed plate, and a sealing pipe fitting connecting the first air channel and the second air channel is arranged in the clamping groove; The nozzle switching steps of the nozzle automatic switching mechanism are as follows: Step 1: The robot drives the pick-up arm to move to the first specified height above the base of the nozzle library, calibrates the position of the nozzle and the movable hole, and calibrates the position of the nozzle positioning block and the avoidance hole and puts them in place; Step 2: The robot drives the pick-up arm down to the second designated height so that the nozzle positioning block enters the movable slot, calibrates the position of the nozzle positioning block and the positioning slot and puts them in place, separates the nozzle from the pick-up arm, stores the nozzle in the receiving slot for storage, and the pick-up arm rises and resets to the first designated height; The third step: the robot drives the picking arm to move to the first specified height above the pre-switching nozzle, the picking arm descends to the third specified height, the picking arm picks up the pre-switching nozzle and rises to the second specified height to move the nozzle positioning block out of the positioning groove, calibrate the position of the nozzle positioning block and the avoidance hole and put them in place, the robot rises again to drive the nozzle to the first specified height and reset it for delivery.

2. The automatic nozzle switching mechanism according to claim 1, characterized in that: There are four nozzle positioning blocks, and the four nozzle positioning blocks are evenly arranged on the side wall of the nozzle seat in the circumferential direction.

3. The automatic nozzle switching mechanism according to claim 2, characterized in that: The nozzle positioning block is located at the lower end of the nozzle seat, a nozzle positioning pin is provided at the upper end of the side wall of the nozzle seat, and an avoidance groove for avoiding the nozzle positioning pin is provided on the side wall of the fixing groove.

4. The automatic nozzle switching mechanism according to claim 1, characterized in that: The passage, the first air passage, the sealing pipe and the second air passage are all coaxial, and a through hole is provided on the regulating disk, and the through hole is coaxial with the second air passage.

5. The automatic nozzle switching mechanism according to claim 1, characterized in that: The movable groove, the nozzle accommodating groove and the positioning groove form a unit, and a plurality of the units are provided, and the plurality of the units are arranged in a straight line on the nozzle storage base.

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