A two-way variable distance suction cup device

Abstract

The present invention relates to the field of automation equipment and discloses a two-way variable-pitch suction cup device, comprising: a main frame; a lateral movement component, wherein the lateral movement component is arranged on the main frame; a base plate, wherein the base plate is mounted on the lateral movement component and a support plate is also mounted on the base plate; a suction cup mechanism, wherein the suction cup mechanism is mounted on the base plate via an X-axis variable-pitch component; wherein the suction cup mechanism comprises a Y-axis suction cup variable-pitch structure, a suction cup component and a Y-axis variable-pitch component, wherein the suction cup component is arranged on the upper Y-axis suction cup variable-pitch structure, the Y-axis suction cup variable-pitch structure is connected to the X-axis variable-pitch component, and the Y-axis variable-pitch component comprises a Y-axis variable-pitch transmission screw, a guide component and a drive component for driving the Y-axis variable-pitch transmission screw to rotate; the present invention can automatically change the pitch to adapt to the high-speed production requirements of different types of trays through the coordinated use of the X-axis variable-pitch component and the Y-axis variable-pitch component.

Description

Technical Field

[0001] The invention belongs to the field of automation equipment, and in particular relates to a two-way variable-distance suction cup device. Background Art

[0002] The current semiconductor chip industry has a huge output value and carries enormous economic, technological, and development value in this era. In the chip industry, trays are used for transportation during the production of small chips. On a tray, the chips are densely arranged. In many production processes necessary for chip production, the chips need to be removed from the tray using suction cups for transfer. Since an automated production line in the chip industry generally corresponds to the production of chips of several sizes, trays with standard external dimensions and different internal chip arrangement spacings have been derived. There are two main types of suction cup devices currently used in the industry: the first type uses a fixed suction cup group corresponding to the tray form to suck up the chip; the second type uses a single row of variable-distance suction cups to suck up the chip.

[0003] As mentioned above, the first type uses a fixed suction cup group in the form of a corresponding tray to absorb chips, which is only suitable for the absorption of chips of one size. When the production line switches to chips of different specifications for production, personnel need to manually replace the absorption structure. Chip production companies need to have multiple types of fixed suction cup groups on hand to ensure normal production needs; the second type uses a single-row variable-distance suction cup to absorb chips, realizing the automatic variable distance function on a single row. Compared with the first type, the functionality is improved, but the absorption efficiency of the single-row suction cup is insufficient.

[0004] Therefore, in view of the above situation, there is an urgent need to provide a two-way variable distance suction cup device to overcome the shortcomings in current practical applications. Summary of the Invention

[0005] In view of the above situation, in order to overcome the defects of the prior art, the present invention provides a two-way variable distance suction cup device to solve the problems in the above technical background.

[0006] To achieve the above-mentioned object, the present invention provides the following technical solution: a two-way variable distance suction cup device, the two-way variable distance suction cup device comprising:

[0007] Main frame;

[0008] A transverse movement component, wherein the transverse movement component is arranged on the main frame;

[0009] A base plate, the base plate being mounted on the lateral movement assembly and having a support plate mounted on the base plate;

[0010] Suction cup mechanism, the suction cup mechanism is installed on the substrate through the X-axis pitch change component; wherein the suction cup mechanism includes a Y-axis suction cup pitch change structure, a suction cup component and a Y-axis pitch change component, the suction cup component is arranged on the upper Y-axis suction cup pitch change structure, and the suction cup component is provided with multiple groups, the Y-axis suction cup pitch change structure is connected to the X-axis pitch change component, and the Y-axis suction cup pitch change structure includes a first row of Y-axis suction cup pitch change structures, a second row of Y-axis suction cup pitch change structures, a third row of Y-axis suction cup pitch change structures and a fourth row of Y-axis suction cup pitch change structures, the Y-axis pitch change component includes a Y-axis pitch change transmission screw, a guide An assembly and a driving assembly for driving the Y-axis variable pitch transmission screw to rotate, the Y-axis variable pitch transmission screw is a screw of a positive and negative wire structure, and two groups of Y-axis variable pitch transmission screws are arranged on the support plate, one group of the Y-axis variable pitch transmission screws is respectively connected to the fourth column of Y-axis suction cup variable pitch structure and the first column of Y-axis suction cup variable pitch structure through screw nuts, and the other group of Y-axis variable pitch transmission screws is respectively connected to the second column of Y-axis suction cup variable pitch structure and the third column of Y-axis suction cup variable pitch structure through screw nuts, the guide assembly is installed on the base plate, and the guide assembly is connected to the suction cup variable pitch structure.

[0011] Preferably, the lateral movement component includes a suction cup mechanism lateral movement linear motor and a suction cup mechanism lateral movement linear guide rail, the suction cup mechanism lateral movement linear guide rail is used for sliding connection between the substrate and the main frame, and the suction cup mechanism lateral movement linear motor is used to drive the substrate to slide on the main frame.

[0012] Preferably, the first column of Y-axis suction cup variable pitch structures, the second column of Y-axis suction cup variable pitch structures, the third column of Y-axis suction cup variable pitch structures and the fourth column of Y-axis suction cup variable pitch structures adopt the same structural setting, and the first column of Y-axis suction cup variable pitch structures, the second column of Y-axis suction cup variable pitch structures, the third column of Y-axis suction cup variable pitch structures and the fourth column of Y-axis suction cup variable pitch structures all include an X-axis variable pitch guide plate and a suction cup structure fixing plate, the X-axis variable pitch guide plate is connected to the X-axis variable pitch assembly, and the suction cup assembly is installed on the X-axis variable pitch guide plate, and the suction cup structure fixing plate is connected to the X-axis variable pitch guide plate;.

[0013] Preferably, the suction cup structure fixing plate is further provided with a plurality of sets of X-axis variable pitch suction cup structure guide linear guide rails for use with the X-axis variable pitch assembly.

[0014] Preferably, the X-axis variable pitch guide plate is further provided with a plurality of guide grooves for achieving synchronous guiding and limiting of the suction cup assembly.

[0015] Preferably, the guide assembly is symmetrically arranged in two groups on the substrate, and the guide assembly includes a suction cup group Y-axis variable pitch guide column and a suction cup group Y-axis variable pitch guide linear bearing, the suction cup group Y-axis variable pitch guide column is installed on the substrate, and the suction cup group Y-axis variable pitch guide linear bearing is used for sliding connection between the Y-axis suction cup variable pitch structure and the suction cup group Y-axis variable pitch guide column.

[0016] Preferably, the drive assembly includes a Y-axis variable pitch servo motor and a transmission member, the Y-axis variable pitch servo motor is mounted on the support plate, and the transmission member is used to connect the Y-axis variable pitch servo motor and the Y-axis variable pitch transmission screw.

[0017] Preferably, the suction cup assembly includes a suction cup mounting plate, an trachea adapter assembly, a guide bearing and a suction cup. The suction cup mounting plate is connected to the suction cup structure fixing plate through an X-axis variable pitch suction cup structure guide linear guide rail. The guide bearing is placed in a corresponding guide groove on the X-axis variable pitch guide plate. The suction cup is connected to the suction cup mounting plate through a suction cup spring rod. The trachea adapter assembly is arranged on the suction cup spring rod. The trachea adapter assembly includes a T-type trachea connector and a Y-type trachea connector.

[0018] Preferably, the X-axis pitch change assembly includes a lifting plate, a mounting plate, an X-axis pitch change servo motor and an X-axis pitch change transmission screw. The mounting plate is mounted on the support plate through an X-axis pitch change mechanism guide column. The lifting plate and the X-axis pitch change mechanism guide column are connected through an X-axis pitch change mechanism linear bearing. The X-axis pitch change transmission screw is mounted on the mounting plate, and the X-axis pitch change transmission screw is connected to the lifting plate through a screw nut. The X-axis pitch change servo motor is used to drive the X-axis pitch change transmission screw to rotate.

[0019] Compared with the prior art, the beneficial effects of the present invention are as follows: by rotating two sets of Y-axis variable pitch transmission screws, the spacing between two adjacent sets of Y-axis suction cup variable pitch structures can be simultaneously increased or decreased by the same distance; by driving the X-axis variable pitch servo motor to rotate the X-axis variable pitch transmission screw, the working height of the lifting plate can be adjusted; the spring part of the suction cup spring rod has a movable stroke to accommodate the suction of trays and chips of different thicknesses; the suction cup spring rod is fixed to the suction cup mounting plate with two locking nuts in the middle; the guide bearing installed on the upper end of the suction cup mounting plate corresponds to the guide groove on the X-axis variable pitch guide plate; when the X-axis variable pitch servo motor drives the X-axis variable pitch transmission screw When the height of the X-axis variable pitch guide plate installed on the lifting plate is lifted by fixing the linear guide rail through the X-axis variable pitch guide plate, the suction cup assembly is doubly guided by the X-axis variable pitch guide plate and the X-axis variable pitch suction cup structure to guide the linear guide rail. The suction cup assembly can only move equidistantly in the X-axis direction to achieve synchronous spacing adjustment of the suction cups. Compared with the existing single-phase variable pitch structure, the present invention improves production efficiency and reduces equipment size. It is an equipment structure that is more suitable for flexible production of intelligent manufacturing, and does not require multiple sets of suction cup assemblies. When changing production, the suction cup mechanism of the present invention can automatically change pitch according to production information to adapt to the high-speed production requirements of different types of Trays. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The accompanying drawings are used to provide further understanding of the present invention and constitute a part of the specification. They are used to explain the present invention together with the embodiments of the present invention and do not constitute a limitation of the present invention.

[0021] In the attached figure:

[0022] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0023] Figure 2 It is a schematic diagram of the main structure of the present invention.

[0024] Figure 3 It is a partial cross-sectional structural schematic diagram of the present invention.

[0025] Figure 4 It is a partial structural diagram of the Y-axis suction cup variable distance structure in the present invention.

[0026] Figure 5 It is a structural schematic diagram of the suction cup assembly in the present invention.

[0027] Figure 6 for Figure 5 Schematic diagram of the side structure.

[0028] Figure 7 This is a schematic diagram of a tray (7 columns and 14 rows).

[0029] In the figure: 1-main frame, 2-X-axis pitch-changing servo motor, 3-X-axis pitch-changing mechanism guide column, 4-X-axis pitch-changing transmission screw, 5-suction cup mechanism transverse linear motor, 6-suction cup mechanism transverse linear guide, 7-X-axis pitch-changing guide plate fixed linear guide, 8-X-axis pitch-changing mechanism linear bearing, 9-transmission part, 10-Y-axis pitch-changing servo motor, 11-Y-axis pitch-changing transmission screw, 12-fourth row Y-axis suction cup pitch-changing structure, 13-suction cup group Y-axis pitch-changing guide column, 14-suction cup group Y-axis pitch-changing guide linear bearing, 15-X-axis pitch Suction cup structure guide linear guide, 16-suction cup structure fixing plate, 17-T-type air pipe connector, 18-Y-type air pipe connector, 19-guide bearing, 20-suction cup spring rod, 21-suction cup mounting plate, 22-air pipe adapter assembly, 23-suction cup, 24-Tray, 25-base plate, 26-lifting plate, 27-support plate, 28-mounting plate, 29-X-axis variable pitch guide plate, 30-chip, 31-first row Y-axis suction cup variable pitch structure, 32-second row Y-axis suction cup variable pitch structure, 33-third row Y-axis suction cup variable pitch structure. DETAILED DESCRIPTION

[0030] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments; based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0031] See also Figure 1-Figure 7 An embodiment of the present invention provides a two-way variable distance suction cup device, the two-way variable distance suction cup device comprising:

[0032] Main frame 1;

[0033] A lateral movement component, the lateral movement component is arranged on the main frame 1;

[0034] A base plate 25, the base plate 25 is mounted on the lateral movement assembly, and a support plate 27 is also mounted on the base plate 25;

[0035] Suction cup mechanism, the suction cup mechanism is installed on the substrate 25 through the X-axis pitch change component; wherein the suction cup mechanism includes a Y-axis suction cup pitch change structure, a suction cup component and a Y-axis pitch change component, the suction cup component is arranged on the upper Y-axis suction cup pitch change structure, and the suction cup component is provided with multiple groups, the Y-axis suction cup pitch change structure is connected to the X-axis pitch change component, and the Y-axis suction cup pitch change structure includes a first row of Y-axis suction cup pitch change structures 31, a second row of Y-axis suction cup pitch change structures 32, a third row of Y-axis suction cup pitch change structures 33 and a fourth row of Y-axis suction cup pitch change structures 12, the Y-axis pitch change component includes a Y-axis pitch change transmission screw 11, a guide component and a The driving component for driving the Y-axis variable pitch transmission screw 11 to rotate, the Y-axis variable pitch transmission screw 11 is a screw with a positive and negative wire structure, and two groups of Y-axis variable pitch transmission screws 11 are arranged on the support plate 27, one group of the Y-axis variable pitch transmission screws 11 is connected to the fourth column of Y-axis suction cup variable pitch structure 12 and the first column of Y-axis suction cup variable pitch structure 31 through screw nuts, and the other group of Y-axis variable pitch transmission screws 11 is connected to the second column of Y-axis suction cup variable pitch structure 32 and the third column of Y-axis suction cup variable pitch structure 33 through screw nuts, and the guide assembly is installed on the base plate 25, and the guide assembly is connected to the suction cup variable pitch structure.

[0036] In an embodiment of the present invention, ten groups of suction cup assemblies are provided on each group of Y-axis suction cup pitch change structures; by rotating two groups of Y-axis pitch change transmission screws 11, the spacing between two adjacent groups of Y-axis suction cup pitch change structures can be simultaneously increased or reduced by the same distance, and the working position of the suction cup assembly on the main frame 1 can be adjusted conveniently by moving the assembly laterally, thereby improving the practicality of the device, and the synchronous spacing adjustment of the suction cup assemblies installed on the Y-axis suction cup pitch change structure can be achieved through the X-axis pitch change assembly; compared with the existing single-phase pitch change structure, the present invention improves production efficiency and reduces equipment volume, is an equipment structure that is more suitable for flexible production of intelligent manufacturing, and does not require multiple groups of suction cup assemblies. When changing production, the suction cup mechanism of the present invention can automatically change pitch according to production information to adapt to the high-speed production requirements of different models of Tray 24.

[0037] In one embodiment of the present invention, see Figure 1 and Figure 2 The lateral movement component includes a suction cup mechanism lateral movement linear motor 5 and a suction cup mechanism lateral movement linear guide 6. The suction cup mechanism lateral movement linear guide 6 is used for sliding connection between the substrate 25 and the main frame 1. The suction cup mechanism lateral movement linear motor 5 is used to drive the substrate 25 to slide on the main frame 1.

[0038] In one embodiment of the present invention, see Figure 3 and Figure 4The first row of Y-axis suction cup variable pitch structures 31, the second row of Y-axis suction cup variable pitch structures 32, the third row of Y-axis suction cup variable pitch structures 33 and the fourth row of Y-axis suction cup variable pitch structures 12 adopt the same structural arrangement, and the first row of Y-axis suction cup variable pitch structures 31, the second row of Y-axis suction cup variable pitch structures 32, the third row of Y-axis suction cup variable pitch structures 33 and the fourth row of Y-axis suction cup variable pitch structures 12 all include an X-axis variable pitch guide plate 29 and a suction cup structure fixing plate 16, the X-axis variable pitch guide plate 29 is connected to the X-axis variable pitch assembly, and the suction cup assembly is installed on the X-axis variable pitch guide plate 29, and the suction cup structure fixing plate 16 is connected to the X-axis variable pitch guide plate 29;

[0039] The suction cup structure fixing plate 16 is further provided with a plurality of X-axis variable pitch suction cup structure guide linear guide rails 15 for use with the X-axis variable pitch assembly;

[0040] The X-axis variable pitch guide plate 29 is also provided with a plurality of guide grooves for achieving synchronous guidance and limitation of the suction cup assembly.

[0041] In one embodiment of the present invention, see Figure 3 The guide assembly is symmetrically arranged in two groups on the substrate 25, and the guide assembly includes a suction cup group Y-axis variable pitch guide column 13 and a suction cup group Y-axis variable pitch guide linear bearing 14. The suction cup group Y-axis variable pitch guide column 13 is installed on the substrate 25, and the suction cup group Y-axis variable pitch guide linear bearing 14 is used for sliding connection between the Y-axis suction cup variable pitch structure and the suction cup group Y-axis variable pitch guide column 13.

[0042] In this embodiment, the Y-axis pitch change guide column 13 of the suction cup group and the Y-axis pitch change guide linear bearing 14 of the suction cup group are arranged in coordination to achieve stable and effective guidance of the Y-axis suction cup pitch change structure when performing Y-axis pitch change, thereby improving the stability of the device during operation.

[0043] In one embodiment of the present invention, see Figure 3 The drive assembly includes a Y-axis variable pitch servo motor 10 and a transmission member 9. The Y-axis variable pitch servo motor 10 is installed on the support plate 27. The transmission member 9 is used to connect the Y-axis variable pitch servo motor 10 and the Y-axis variable pitch transmission screw 11.

[0044] In this embodiment, the transmission member 9 is a combination structure of a belt and a synchronous wheel, the transmission ratio of the synchronous wheel is 1:1, the positive wire pitch and the negative wire pitch of each set of Y-axis variable pitch transmission screws 11 are the same, and the pitch size ratio of the two Y-axis variable pitch transmission screws 11 is 3:1. When the Y-axis variable pitch servo motor 10 is working, it drives the two sets of Y-axis variable pitch transmission screws 11 to rotate synchronously, so that the spacing between the two adjacent sets of Y-axis suction cup variable pitch structures can be increased or reduced by the same distance at the same time.

[0045] In one embodiment of the present invention, see Figure 1-Figure 7 The suction cup assembly includes a suction cup mounting plate 21, an air pipe adapter assembly 22, a guide bearing 19, and a suction cup 23. The suction cup mounting plate 21 is connected to the suction cup structure fixing plate 16 through the X-axis variable pitch suction cup structure guide linear guide 15. The guide bearing 19 is placed in a corresponding guide groove on the X-axis variable pitch guide plate 29. The suction cup 23 is connected to the suction cup mounting plate 21 through a suction cup spring rod 20. The air pipe adapter assembly 22 is arranged on the suction cup spring rod 20. The air pipe adapter assembly 22 includes a T-type air pipe connector 17 and a Y-type air pipe connector 18.

[0046] The X-axis pitch change assembly includes a lifting plate 26, a mounting plate 28, an X-axis pitch change servo motor 2 and an X-axis pitch change transmission screw 4. The mounting plate 28 is mounted on the support plate 27 through the X-axis pitch change mechanism guide column 3. The lifting plate 26 and the X-axis pitch change mechanism guide column 3 are connected through the X-axis pitch change mechanism linear bearing 8. The X-axis pitch change transmission screw 4 is mounted on the mounting plate 28, and the X-axis pitch change transmission screw 4 is connected to the lifting plate 26 through a screw nut. The X-axis pitch change servo motor 2 is used to drive the X-axis pitch change transmission screw 4 to rotate.

[0047] In this embodiment, the X-axis variable pitch servo motor 2 drives the X-axis variable pitch transmission screw 4 to rotate, thereby adjusting the working height of the lifting plate 26; the diameter of the suction cup 23 is 5 mm, and the spring part of the suction cup spring rod 20 is movable to accommodate the suction of trays 24 and chips 30 of different thicknesses. Two locking nuts are used in the middle of the suction cup spring rod 20 to fix it on the suction cup mounting plate 21. The guide bearing 19 installed on the upper end of the suction cup mounting plate 21 corresponds to the guide groove on the X-axis variable pitch guide plate 29. When the X-axis variable pitch servo motor 2 drives the X-axis variable pitch transmission screw 4 to lift the height of the X-axis variable pitch guide plate 29 fixed on the lifting plate 26 through the X-axis variable pitch guide plate fixed linear guide rail 7, the suction cup assembly is dual-guided by the X-axis variable pitch guide plate 29 and the X-axis variable pitch suction cup structure guiding linear guide rail 15. The suction cup assembly can only move equidistantly in the X-axis direction, thereby realizing synchronous spacing adjustment of the suction cup 23.

[0048] When the suction cup mechanism is operating normally, the other supporting equipment will lift the tray 24 until the suction cup 23 contacts the chip surface. After the suction cup 23 absorbs the chip 30 from the tray 24, the tray 24 falls. The suction cup mechanism needs to move horizontally to the top of the empty tray 24 that needs to be transferred. After the supporting equipment lifts the empty tray 24 into place, the vacuum generator back-blows, so that the chip 30 quickly detaches from the suction cup 23 and falls into the chip groove of the empty tray 24. The linear motor 5 of the suction cup mechanism provides the suction cup mechanism with horizontal movement power. The suction cup mechanism has a fast horizontal movement speed and high movement stability, which meets the high beat requirements of the chip industry.

[0049] Working principle: By rotating two sets of Y-axis variable pitch transmission screws 11, the spacing between two adjacent sets of Y-axis suction cup variable pitch structures can be simultaneously increased or decreased by the same distance. The working position of the suction cup assembly on the main frame 1 can be easily adjusted by moving the assembly horizontally, thereby improving the practicality of the device. The synchronous spacing adjustment of the suction cup assemblies installed on the Y-axis suction cup variable pitch structure can be achieved through the X-axis variable pitch assembly.

[0050] The X-axis variable pitch servo motor 2 drives the X-axis variable pitch transmission screw 4 to rotate, so as to adjust the working height of the lifting plate 26; the spring part of the suction cup spring rod 20 is movable to accommodate the suction of trays 24 and chips 30 of different thicknesses; two locking nuts are used in the middle of the suction cup spring rod 20 to be fixed to the suction cup mounting plate 21; the guide bearing 19 installed on the upper end of the suction cup mounting plate 21 corresponds to the guide groove on the X-axis variable pitch guide plate 29; when the X-axis variable pitch servo motor 2 drives the X-axis variable pitch transmission screw 4 to lift the height of the X-axis variable pitch guide plate 29 fixed to the lifting plate 26 by the X-axis variable pitch guide plate fixed linear guide rail 7, the suction cup assembly is dual-guided by the X-axis variable pitch guide plate 29 and the X-axis variable pitch suction cup structure guiding linear guide rail 15; the suction cup assembly can only move equidistantly in the X-axis direction, thereby realizing synchronous spacing adjustment of the suction cup 23;

[0051] When the suction cup mechanism is operating normally, the other supporting equipment will lift the tray 24 until the chip 30 contacts the chip surface. After the suction cup 23 absorbs the chip 30 from the tray 24, the tray 24 falls. The suction cup mechanism needs to move horizontally to the top of the empty tray 24 that needs to be transferred. After the supporting equipment lifts the empty tray 24 into place, the vacuum generator blows back, so that the chip 30 quickly separates from the suction cup 23 and falls into the chip groove of the empty tray 24. The linear motor 5 of the suction cup mechanism provides the suction cup mechanism with horizontal movement power. The suction cup mechanism has a fast horizontal movement speed and high movement stability, which meets the high beat requirements of the chip industry.

[0052] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus.

[0053] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A two-way variable distance suction cup device, comprising a main frame (1), characterized in that: A transverse movement component, the transverse movement component being arranged on the main frame (1); A base plate (25), the base plate (25) being mounted on the transverse movement assembly, and a support plate (27) being further mounted on the base plate (25); A suction cup mechanism, wherein the suction cup mechanism is mounted on a substrate (25) via an X-axis pitch-changing assembly; wherein the suction cup mechanism comprises a Y-axis suction cup pitch-changing structure, a suction cup assembly, and a Y-axis pitch-changing assembly; the suction cup assembly is arranged on the upper Y-axis suction cup pitch-changing structure, and multiple groups of suction cup assemblies are provided; the Y-axis suction cup pitch-changing structure is connected to the X-axis pitch-changing assembly, and the Y-axis suction cup pitch-changing structure comprises a first row of Y-axis suction cup pitch-changing structures (31), a second row of Y-axis suction cup pitch-changing structures (32), a third row of Y-axis suction cup pitch-changing structures (33), and a fourth row of Y-axis suction cup pitch-changing structures (12); the Y-axis pitch-changing assembly comprises a Y-axis pitch-changing transmission screw (11), a guide assembly, and ... A drive assembly for rotating a variable pitch transmission screw (11), wherein the Y-axis variable pitch transmission screw (11) is a screw with a positive and negative wire structure, and two groups of Y-axis variable pitch transmission screws (11) are provided on the support plate (27), wherein one group of the Y-axis variable pitch transmission screws (11) is connected to the fourth column of the Y-axis suction cup variable pitch structure (12) and the first column of the Y-axis suction cup variable pitch structure (31) through screw nuts, and the other group of the Y-axis variable pitch transmission screws (11) is connected to the second column of the Y-axis suction cup variable pitch structure (32) and the third column of the Y-axis suction cup variable pitch structure (33) through screw nuts, and the guide assembly is mounted on the base plate (25), and the guide assembly is connected to the suction cup variable pitch structure; The guide assembly is symmetrically arranged in two groups on the base plate (25), and the guide assembly includes a suction cup group Y-axis variable pitch guide column (13) and a suction cup group Y-axis variable pitch guide linear bearing (14), the suction cup group Y-axis variable pitch guide column (13) is installed on the base plate (25), and the suction cup group Y-axis variable pitch guide linear bearing (14) is used for sliding connection between the Y-axis suction cup variable pitch structure and the suction cup group Y-axis variable pitch guide column (13); The first row of Y-axis suction cup pitch-changing structures (31), the second row of Y-axis suction cup pitch-changing structures (32), the third row of Y-axis suction cup pitch-changing structures (33), and the fourth row of Y-axis suction cup pitch-changing structures (12) adopt the same structural setting, and the first row of Y-axis suction cup pitch-changing structures (31), the second row of Y-axis suction cup pitch-changing structures (32), the third row of Y-axis suction cup pitch-changing structures (33), and the fourth row of Y-axis suction cup pitch-changing structures (12) all include an X-axis pitch-changing guide plate (29) and a suction cup structure fixing plate (16), the X-axis pitch-changing guide plate (29) is connected to the X-axis pitch-changing assembly, and the suction cup assembly is installed on the X-axis pitch-changing guide plate (29), and the suction cup structure fixing plate (16) is connected to the X-axis pitch-changing guide plate (29); The drive assembly comprises a Y-axis variable pitch servo motor (10) and a transmission member (9), wherein the Y-axis variable pitch servo motor (10) is mounted on the support plate (27), and the transmission member (9) is used for connecting the Y-axis variable pitch servo motor (10) and the Y-axis variable pitch transmission screw (11).

2. The two-way variable distance suction cup device according to claim 1, characterized in that: The lateral movement assembly includes a suction cup mechanism lateral movement linear motor (5) and a suction cup mechanism lateral movement linear guide rail (6), wherein the suction cup mechanism lateral movement linear guide rail (6) is used for sliding connection between the substrate (25) and the main frame (1), and the suction cup mechanism lateral movement linear motor (5) is used for driving the substrate (25) to slide on the main frame (1).

3. The two-way variable distance suction cup device according to claim 1, characterized in that: The suction cup structure fixing plate (16) is also provided with a plurality of sets of X-axis variable pitch suction cup structure guide linear guide rails (15) for use with the X-axis variable pitch assembly.

4. The two-way variable distance suction cup device according to claim 3, characterized in that: The X-axis variable pitch guide plate (29) is also provided with a plurality of guide grooves for achieving synchronous guiding and limiting of the suction cup assembly.

5. The two-way variable distance suction cup device according to claim 1, characterized in that: The suction cup assembly comprises a suction cup mounting plate (21), an air pipe adapter assembly (22), a guide bearing (19) and a suction cup (23). The suction cup mounting plate (21) is connected to the suction cup structure fixing plate (16) via an X-axis variable pitch suction cup structure guide linear guide rail (15). The guide bearing (19) is placed in a corresponding guide groove on the X-axis variable pitch guide plate (29). The suction cup (23) is connected to the suction cup mounting plate (21) via a suction cup spring rod (20). The air pipe adapter assembly (22) is arranged on the suction cup spring rod (20). The air pipe adapter assembly (22) comprises a T-type air pipe joint (17) and a Y-type air pipe joint (18).

6. The two-way variable distance suction cup device according to claim 1, characterized in that: The X-axis pitch changing assembly comprises a lifting plate (26), a mounting plate (28), an X-axis pitch changing servo motor (2) and an X-axis pitch changing transmission screw (4); the mounting plate (28) is mounted on the support plate (27) via an X-axis pitch changing mechanism guide column (3); the lifting plate (26) and the X-axis pitch changing mechanism guide column (3) are connected via an X-axis pitch changing mechanism linear bearing (8); the X-axis pitch changing transmission screw (4) is mounted on the mounting plate (28), and the X-axis pitch changing transmission screw (4) and the lifting plate (26) are connected via a screw nut; the X-axis pitch changing servo motor (2) is used to drive the X-axis pitch changing transmission screw (4) to rotate.

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