Automatic nozzle changing device for a die picking apparatus and method thereof

Abstract

The present application belongs to the field of crystal grain transport, and particularly relates to an automatic nozzle changing device for a crystal grain picking device and a method thereof. The device mainly comprises pneumatic fingers, a moving mechanism, a nozzle rotating mechanism and a nozzle storage rack. The method for automatically changing the nozzle comprises the following steps: driving the pneumatic fingers to move to a target position, rotating an old nozzle to the target position, clamping and taking off the old nozzle by the pneumatic fingers, driving the pneumatic fingers to move to a recycling position, and releasing the old nozzle into the recycling position by the pneumatic fingers; driving the pneumatic fingers to move to the nozzle storage rack, clamping and taking off a new nozzle by the pneumatic fingers, moving the pneumatic fingers and installing the new nozzle at the target position, and moving back the moving mechanism to complete the replacement of the new nozzle; rotating the next old nozzle to the target position, and repeating the above steps to complete the replacement of the subsequent nozzles. The automatic nozzle changing device solves the problem of manual intervention and significantly improves the production efficiency.

Description

Technical Field

[0001] This invention belongs to the field of grain handling, specifically an automatic nozzle changing device and method for grain picking equipment. Background Technology

[0002] In the die manufacturing process, a whole wafer is first produced. After the wafer is diced, it is divided into completely separate individual dies, which are then individually adhered to an adhesive blue film. In the subsequent wafer sorting process, the die sorting machine uses a vacuum nozzle to pick up the dies from the blue film and place them in the designated positions; or in the subsequent die bonding process, the die bonder uses a vacuum nozzle to pick up the dies from the blue film and place them in the designated positions.

[0003] The grains are transported using suction nozzles, which are rotated by a mechanism. To ensure a tight seal, the nozzles are made of rubber. After a certain number of uses, wear and tear will occur, requiring periodic replacement. The current method sets a usage limit for each nozzle; once this limit is reached, the equipment alarms and stops. The old nozzle is then manually removed and replaced with a new one. Each nozzle has a lifespan of approximately 2 million uses, requiring manual replacement approximately every 48 hours, taking about 30 minutes. This time-consuming manual removal of the nozzles impacts production efficiency. Summary of the Invention

[0004] To address the issue of manual intervention and improve equipment production efficiency, this invention provides an automatic nozzle changing device for grain sorting equipment. The device is controlled by a system-controlled moving mechanism that drives pneumatic fingers to remove the old nozzle and install a new one through logical movement, thus achieving automatic nozzle replacement.

[0005] The automatic nozzle changing device for grain sorting equipment in this invention adopts the following solution:

[0006] An automatic nozzle changing device for a grain sorting equipment includes:

[0007] A pneumatic finger includes a gripper and a nozzle positioning block, wherein the nozzle positioning block is mounted on the gripper; when the pneumatic finger is pressurized, the nozzle positioning block closes to grip the nozzle, and when the pneumatic finger is released, the nozzle positioning block opens to release the nozzle.

[0008] The moving mechanism includes an X-axis module, a Y-axis module, and a Z-axis translation mechanism. The X-axis module is connected to the Y-axis module, and the Z-axis translation mechanism is located on the Y-axis module. The pneumatic finger is mounted on the Z-axis translation mechanism and moves under the drive of the Z-axis translation mechanism.

[0009] The nozzle rotation mechanism includes a rotating shaft and a rotating arm, wherein the rotating shaft drives the nozzle on the rotating arm to rotate to a target position suitable for nozzle replacement;

[0010] A nozzle storage rack, installed on one side of the nozzle rotation mechanism, is adapted to provide new nozzles as needed.

[0011] Furthermore, the automatic nozzle changing device for the grain sorting equipment also includes an old nozzle recycling box located between the nozzle rotating mechanism and the nozzle storage rack, which is suitable for recycling old nozzles unloaded by pneumatic fingers.

[0012] Furthermore, the Z-axis translation mechanism is a side-sliding cylinder.

[0013] Furthermore, the X-axis module is mounted on the first track, a first ball screw passes through the X-axis module, and a first motor is connected to the rear of the first ball screw. The first motor drives the first ball screw to rotate, thereby the X-axis module drives the other mechanisms to slide on the first track.

[0014] Furthermore, the Y-axis module is provided with a second track, the Z-axis translation mechanism is installed on the side of the connecting component, the connecting component is installed on the second track and the second ball screw, the second ball screw is connected to a second motor at the rear, the second motor drives the second ball screw to rotate, thereby the connecting component drives the Z-axis translation mechanism and the pneumatic finger to slide on the second track.

[0015] Furthermore, the nozzle storage rack is arranged with nozzle fixing rods, and new nozzles are fixed on the nozzle fixing rods, which are suitable for pneumatic finger gripping.

[0016] Furthermore, several nozzle fixing rods are arranged longitudinally or laterally.

[0017] In addition, the present invention also provides an automatic nozzle changing method for a grain sorting device, which mainly includes the following steps:

[0018] Old nozzle removal: Drive the pneumatic finger to move to the target position suitable for nozzle replacement, rotate the old nozzle to the target position, clamp the old nozzle (no. 1 nozzle) with the pneumatic finger and remove it, drive the pneumatic finger to move to the recycling point, and release the pneumatic finger to put it into the recycling point.

[0019] New nozzle installation: Drive the pneumatic finger to move to the nozzle storage rack, the pneumatic finger clamps the new nozzle and removes it, the pneumatic finger moves and installs the new nozzle in the target position (no. 1 nozzle), the moving mechanism retracts to complete the new nozzle replacement;

[0020] Subsequent replacement: Rotate the next old nozzle (nozzle #2) to the target position, and repeat the above steps to complete the subsequent nozzle replacement.

[0021] Furthermore, the process of removing the old nozzle includes the following steps:

[0022] The X-axis module and Y-axis module drive the Z-axis translation mechanism and pneumatic finger to the target position. The nozzle rotation mechanism rotates the old nozzle (no. 1 nozzle) to the target position and makes the old nozzle and the nozzle positioning block of the pneumatic finger collinear.

[0023] The pneumatic finger opens and moves forward, then closes to clamp the old nozzle, and the pneumatic finger retracts to remove the old nozzle;

[0024] The X-axis and Y-axis modules drive the Z-axis translation mechanism and pneumatic fingers to move above the old nozzle collection box. When the pneumatic fingers are released, the old nozzles are placed into the nozzle collection box to complete the removal of the old nozzles.

[0025] Furthermore, the installation process for the new nozzle includes the following steps:

[0026] The X-axis module and Y-axis module drive the movement of the pneumatic finger, so that the nozzle positioning block of the pneumatic finger is collinear with the axis of the new nozzle;

[0027] The pneumatic finger opens and moves forward, the pneumatic finger closes to clamp the new nozzle, and the pneumatic finger retracts to remove the new nozzle;

[0028] The X-axis and Y-axis modules drive the Z-axis translation mechanism and pneumatic finger to the target position. The pneumatic finger moves forward to fix the new nozzle onto the nozzle rotation mechanism. The pneumatic finger then releases and retracts to complete the replacement of the new nozzle.

[0029] Furthermore, the subsequent replacement process involves the following steps: the nozzle rotation mechanism rotates 180° so that the next old nozzle (position 2 nozzle) rotates to the target position (position 1 nozzle), and the steps of removing the old nozzle and installing the new nozzle are repeated to complete the replacement of the old nozzle.

[0030] The present invention has the following beneficial effects:

[0031] The entire nozzle replacement process is completed autonomously by the system control mechanism. An automatic nozzle replacement device replaces the nozzle every 72 hours in approximately 2 minutes, effectively increasing the equipment's output per unit time and reducing labor costs. Mechanical positioning ensures minimal deviation and high precision, and the force applied during nozzle replacement is controllable, improving the stability of nozzle installation. Attached Figure Description

[0032] Figure 1 This is an overall layout diagram of a specific embodiment of the present invention;

[0033] Figure 2 This is a structural diagram of the pneumatic finger and Z-axis translation mechanism in a specific embodiment of the present invention;

[0034] Figure 3 This is a structural diagram of a suction nozzle storage rack in a specific embodiment of the present invention;

[0035] Figure 4 This is a detailed connection diagram of the Z-axis translation mechanism in a specific embodiment of the present invention;

[0036] Figure 5 This is a structural diagram of the suction nozzle rotation mechanism in a specific embodiment of the present invention;

[0037] Figure 6 This is a front view of the Y-axis module in a specific embodiment of the present invention.

[0038] Numbers in the diagram:

[0039] 1-X-axis module, 11-first motor, 12-first ball screw, 13-first track; 2-Y-axis module, 21-first motor, 22-second ball screw, 23-second track; 3-Z-axis translation mechanism;

[0040] 4-Pneumatic finger, 41-Pneumatic gripper, 42-Suction nozzle positioning block;

[0041] 5-Nipple storage rack, 51-Nipple retaining rod, 52-New nozzle;

[0042] No. 6-1 suction nozzle;

[0043] 7-2 nozzle;

[0044] 8- Used nozzle recycling box;

[0045] 9- Suction nozzle rotation mechanism, 91- Rotating shaft, 92- Rotating arm;

[0046] 10-Connecting components. Specific Implementation

[0047] To make the technical problem solved by the present invention, the technical solution adopted, and the technical effect achieved clearer, the technical solution of the present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0048] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0049] The accompanying drawings are for illustrative purposes only and represent schematic diagrams, not actual physical images. They should not be construed as limiting the invention. To better illustrate the embodiments of the invention, some components in the drawings may be omitted, enlarged, or reduced, and do not represent the actual dimensions of the product. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the drawings. The terms "first" and "second" are used only to distinguish technical features and should not be construed as indicating or implying relative importance, the number of technical features indicated, or the order of the indicated technical features.

[0050] This invention uses X-axis module 1 and Y-axis module 2 to move pneumatic finger 4 to the target position. Pneumatic finger 4 is released, and Z-axis translation mechanism 3 is advanced. Then, pneumatic finger 4 clamps the nozzle, and Z-axis translation mechanism 3 retracts to remove the old nozzle. X-axis module 1 and Y-axis module 2 move to transport the nozzle to the designated old nozzle recycling box 8, where the old nozzle is placed. Pneumatic finger 4 moves to nozzle storage rack 5, and Z-axis translation mechanism 4 advances to clamp the nozzle. Z-axis translation mechanism 3 retracts to remove the new nozzle 52. Then, X-axis module 1 and Y-axis module 2 receive instructions to move to the nozzle-removing position and install the new nozzle in place via Z-axis translation mechanism 3. The pneumatic finger is then released and retracted, thus completing the replacement of one nozzle. The nozzle fixing mechanism rotates, and the previous process is repeated to complete the replacement of another nozzle.

[0051] Please see Figure 1 , Figure 1The overall layout diagram of the present invention shows that the invention mainly includes an X-axis module 1, a Y-axis module 2, a Z-axis translation mechanism 3, a pneumatic finger 4, and a suction nozzle rotation mechanism 9. The top of the X-axis module 1 is mounted on a first track 13 and can slide along the first track 13. The center of the X-axis module 1 is mounted on a first ball screw 12, and a first motor 11 is located behind the first ball screw 12. The first motor 11 can drive the first ball screw 12 to rotate, thereby causing the X-axis module 1 to move the other components back and forth along the X-axis. The Y-axis module 2 has second tracks 23 on both sides. A circular connecting component 10 is mounted on the base of the second track 23, and a second ball screw 22 is located at its center. The second motor 23 is connected behind the second ball screw 22, and the second motor 21 can drive the second ball screw 22 to rotate, thereby causing the other structures mounted on the Y-axis module to slide up and down along the Y-axis. The Z-axis translation mechanism 3 is a side-sliding cylinder, fixed to the annular connecting component 10. A pneumatic finger 4 is mounted above the side-sliding cylinder, pressurizing the cylinder to drive the pneumatic finger 4 to move left and right. The X-axis module 1, Y-axis module 2, and Z-axis translation mechanism cooperate to drive the pneumatic finger 4 to move in multiple dimensions, enabling nozzle replacement. The nozzle rotation mechanism 9 is a supply device for old nozzles, used to rotate old nozzles to the unloading position. Furthermore, this application also includes a nozzle storage rack 5 and an old nozzle recycling box 8. The nozzle storage rack 5 is located in front of the old nozzle recycling box 8, whereby the nozzle storage rack 5 stores and supplies new nozzles, and the old nozzle recycling box 8 recycles old nozzles unloaded by the pneumatic finger 4.

[0052] Please see Figure 2 , Figure 2 This is a schematic diagram of the pneumatic finger 4 and the Z-axis translation mechanism in this invention. In this embodiment, the Z-axis translation mechanism 3 is a side-sliding cylinder with a sliding groove. Pressurization causes the pneumatic finger 4 to slide within the groove, enabling left and right feeding of the pneumatic finger 4. The pneumatic finger 4 includes a gripper 41 and a nozzle positioning block 42. The nozzle positioning block 42 is the main clamping component, installed in the central groove of the gripper 41. When pressure is applied to the pneumatic finger 4, the two nozzle positioning blocks 42 move towards the center to clamp the nozzle. When pressure is released from the pneumatic finger 4, the two nozzle positioning blocks 42 release. When the pneumatic finger 4 grasps the nozzle, the first nozzle 6 or the new nozzle 52 should be collinear with the central axis of the nozzle positioning block 42 to facilitate accurate and stable grasping of the nozzle by the nozzle positioning block 42.

[0053] Please see Figure 3 , Figure 3This is a structural diagram of the nozzle storage rack in this invention. The nozzle storage rack 5 is an L-shaped strip of iron with regular holes on its sides. The nozzle fixing rod 5 passes through the holes, and its end can be used to store new nozzles 52. The nozzle storage rack 5 is located in front of the old nozzle recycling box 8. After the pneumatic finger 4 releases the old nozzle, the nozzle positioning block 42 can be pulled by the X-axis module 1 to the nozzle storage rack 5 to grab the new nozzle. The nozzle fixing rods 51 can be distributed horizontally or vertically on the nozzle storage rack 5. In this embodiment, they are distributed horizontally at equal intervals. When it is necessary to grab a new nozzle 52 on the nozzle fixing rod 51, the Y-axis module 2 is first adjusted so that the nozzle positioning block 42 is at the same height as the axis of the new nozzle 52. Then, the X-axis module 1 pulls the pneumatic finger 4 to the nozzle fixing rod 51, and the side-sliding cylinder controls the left and right feed of the pneumatic finger 4 to remove the new nozzle 52. When the nozzle fixing rods 51 are evenly spaced longitudinally, firstly, the X-axis module 1 is adjusted so that the nozzle positioning block 42 is on the same plane as all the nozzle fixing rods 51. Then, the Y-axis module 2 adjusts the height of the nozzle positioning block 42 so that the nozzle positioning block 42 is collinear with the axis of the new nozzle 52. Finally, the pneumatic finger 4 is controlled to feed left and right by the side sliding cylinder to remove the new nozzle 52.

[0054] Please see Figure 4 , Figure 4 This is a schematic diagram of the Z-axis translation mechanism in this invention. A side-sliding cylinder is fixed to the connecting component 10, which is a circular metal sheet. As an intermediate component, it indirectly connects the pneumatic finger 4 to the Y-axis module. The base of the circular metal sheet is mounted on the second track 23. The second motor 22 drives the circular metal sheet to slide along the second track 23, thereby enabling the pneumatic finger 4 to slide up and down. It is understood that the connecting component 10 is not limited to a circular metal sheet; any intermediate transition structure that can be used to connect the Z-axis translation mechanism and the Y-axis module can serve as the connecting component 10 in this solution.

[0055] Please see Figure 5 , Figure 5The nozzle rotation mechanism of this invention mainly includes a rotating shaft 91 and rotating arms 92. In this embodiment, a pair of rotating arms 92 are mounted on the rotating shaft 91. One end of the rotating arm 92 is fixed with nozzle No. 1, and the other end is fixed with nozzle No. 2. When the side-sliding cylinder and the pneumatic finger 4 move to the target position, the rotating shaft 91 rotates nozzle No. 1 to the target position, making nozzle No. 1 collinear with the axis of the pneumatic finger 4. The pneumatic finger 4 opens and moves forward to unload nozzle No. 1. When the pneumatic finger 4 completes the replacement of nozzle No. 1, the other arm of the rotating arm 92 rotates 180°, rotating nozzle No. 2 to the original position of nozzle No. 1. Driven by the X-axis module, Y-axis module, and Z-axis translation mechanism, the pneumatic finger repeats the unloading and installation steps to complete the replacement of nozzle No. 2. Furthermore, the number of rotating arms is not limited to this. When there are 3 rotating arms 92, the rotating shaft 91 needs to rotate 120° when replacing the old nozzle; when there are 4 rotating arms 92, the rotating shaft 91 needs to rotate 90° when replacing the old nozzle, and so on. The number of rotating arms can be determined according to the number of nozzles to be replaced in the production workshop and the schedule.

[0056] In the embodiments disclosed in this solution, an automatic nozzle replacement method is also provided, which mainly includes two steps: disassembling the old nozzle and installing the new nozzle. For subsequent nozzle replacements, repeating the above two steps can continuously replace the old nozzle.

[0057] For old nozzle removal, the pneumatic finger 4 is moved to the position shown in the figure through the X-axis module 1 and Y-axis module 2. The nozzle at position 1 is rotated to the above position. The pneumatic gripper 41 and nozzle positioning block 42 clamp the nozzle at position 1 and remove it. The pneumatic finger 4 is moved above the old nozzle recycling box 8 through the X-axis module 1 and Y-axis module 2. The nozzle positioning block 42 is released and put into the old nozzle recycling box 8.

[0058] New nozzle installation: The pneumatic finger 4 is moved to the nozzle storage rack 5 via the X-axis module 1 and Y-axis module 2. The pneumatic gripper 41 and nozzle positioning block 42 clamp the new nozzle and remove it. The pneumatic finger 4 moves and installs the new nozzle at the original nozzle position 1. The Z-axis translation mechanism 3 retracts to complete the replacement of the new nozzle.

[0059] Subsequent replacement: The nozzle rotation mechanism 9 rotates the nozzle at position 2 back to the original nozzle at position 1, and repeats the above steps to complete the subsequent nozzle replacement.

[0060] In the embodiments disclosed in this solution, removing the old suction nozzle specifically includes the following steps:

[0061] X-axis module 1 and Y-axis module 2 drive the side-sliding cylinder and pneumatic finger 4 to the target position. The nozzle rotation mechanism 9 rotates the nozzle at position 1 to the target position and makes the nozzle at position 1 and the nozzle positioning block 42 of the pneumatic finger 4 collinear.

[0062] Pneumatic finger 4 opens and moves forward, then closes to clamp the suction nozzle at position 1. Pneumatic finger 4 retracts to remove the suction nozzle at position 1.

[0063] X-axis module 1 and Y-axis module 2 drive the side-sliding cylinder and pneumatic finger 4 to move above the old nozzle collection box. When the pneumatic finger 4 is released, the nozzle at position 1 is placed into the nozzle collection box to complete the removal of the old nozzle.

[0064] In the embodiments disclosed in this solution, removing the old suction nozzle specifically includes the following steps:

[0065] X-axis module 1 and Y-axis module 2 drive the pneumatic finger 4 to move, so that the suction nozzle positioning block 42 of the pneumatic finger 4 is collinear with the axis of the new suction nozzle;

[0066] Pneumatic finger 4 opens and moves forward, pneumatic finger 4 closes to clamp the new nozzle, and pneumatic finger 4 retracts to remove the new nozzle;

[0067] X-axis module 1 and Y-axis module 2 drive the side-sliding cylinder and pneumatic finger 4 to the target position. The pneumatic finger 4 moves forward and fixes the new nozzle onto the nozzle rotation mechanism 9. The pneumatic finger 4 is released and retracted to complete the replacement of the new nozzle.

[0068] In the embodiments disclosed in this solution, the subsequent replacement steps are as follows:

[0069] The nozzle rotation mechanism 9 rotates 180°, causing nozzle position 2 to rotate to the original position of nozzle position 1. Repeat the above steps of removing the old nozzle and installing the new nozzle to complete the replacement of the old nozzle.

[0070] The above description is only a preferred embodiment of the present invention. For those skilled in the art, there will be changes in the specific implementation and application scope based on the ideas of the present invention. The content of this specification should not be construed as a limitation of the present invention.

Claims

1. An automatic nozzle changer for a die picking apparatus, characterized by, It comprises: a pneumatic finger, which comprises a pneumatic claw and a suction nozzle positioning block mounted on the pneumatic claw; pressurizing the pneumatic finger, the suction nozzle positioning block closes to grab the suction nozzle, and depressurizing the pneumatic finger, the suction nozzle positioning block loosens to release the suction nozzle; a moving mechanism, which comprises an X-axis module, a Y-axis module and a Z-direction translation mechanism, the X-axis module is connected with the Y-axis module, and the Z-direction translation mechanism is located on the Y-axis module; the pneumatic finger is arranged on the Z-direction translation mechanism and moves under the driving of the Z-direction translation mechanism; the X-axis module is installed on a first track, a first ball screw penetrates through the X-axis module, a rear of the first ball screw is connected with a first motor, the first motor drives the first ball screw to rotate, so that the X-axis module drives the remaining mechanism to slide on the first track; the Y-axis module is provided with a second track, the Z-direction translation mechanism is installed on a side of a connecting component, the connecting component is installed on the second track and a second ball screw, a rear of the second ball screw is connected with a second motor, the second motor drives the second ball screw to rotate, so that the connecting component drives the Z-direction translation mechanism and the pneumatic finger to slide on the second track; a suction nozzle rotating mechanism, which comprises a rotating shaft and a rotating arm, the rotating shaft drives the suction nozzle on the rotating arm to rotate to a target position suitable for replacing the suction nozzle; a suction nozzle storage rack, which is installed on one side of the suction nozzle rotating mechanism and is suitable for providing a new suction nozzle; a plurality of suction nozzle fixing rods are arranged on the suction nozzle storage rack, and a new suction nozzle is fixed on each suction nozzle fixing rod, which is suitable for being grabbed by the pneumatic finger.

2. The automatic nozzle changer for a die sorting apparatus of claim 1, wherein, Further comprising an old suction nozzle recycling box, which is located between the suction nozzle rotating mechanism and the suction nozzle storage rack and is suitable for recycling the old suction nozzle unloaded by the pneumatic finger.

3. The automatic nozzle changer for a die sorting apparatus of claim 1, wherein, The Z-direction translation mechanism is a side sliding air cylinder.

4. The automatic nozzle changer for die sorting equipment of claim 1, wherein, A plurality of suction nozzle fixing rods are arranged longitudinally or transversely.

5. A die picking device comprising the automatic suction nozzle replacing device according to any one of claims 1 to 4.

6. A method for automatic nozzle changing for a die picking apparatus, implemented using the automatic nozzle changing apparatus for a die picking apparatus according to claim 2, characterized by, The steps comprise: old suction nozzle dismounting: driving the pneumatic finger to move to a target position suitable for replacing the suction nozzle, rotating the old suction nozzle to the target position, clamping the old suction nozzle by the pneumatic finger, driving the pneumatic finger to move to a recycling position, and releasing the old suction nozzle into the recycling position; new suction nozzle mounting: driving the pneumatic finger to move to the suction nozzle storage rack, clamping the new suction nozzle by the pneumatic finger, moving the pneumatic finger and mounting the new suction nozzle at the target position, and moving back the moving mechanism to complete the replacement of the new suction nozzle; subsequent replacement: rotating the next old suction nozzle to the target position, and repeating the above steps to complete the replacement of the subsequent suction nozzle; the X-axis module and the Y-axis module drive the Z-direction translation mechanism and the pneumatic finger to run to the target position, the suction nozzle rotating mechanism rotates the old suction nozzle to the target position, and the axis of the old suction nozzle is collinear with the axis of the suction nozzle positioning block of the pneumatic finger; the pneumatic finger is opened and moved forward, then closed to clamp the old suction nozzle, and the pneumatic finger is moved back to take off the old suction nozzle; the X-axis module and the Y-axis module drive the Z-direction translation mechanism and the pneumatic finger to run above the old suction nozzle recycling box, the pneumatic finger is released, the old suction nozzle is released into the old suction nozzle recycling box to complete the taking off of the old suction nozzle; The X-axis module and the Y-axis module drive the pneumatic fingers to move, so that the suction nozzle positioning block of the pneumatic fingers is collinear with the new suction nozzle axis; The pneumatic fingers are opened and advanced, the pneumatic fingers are closed to clamp the new suction nozzle, and the pneumatic fingers are retracted to take off the new suction nozzle; The X-axis module and the Y-axis module drive the Z-direction translation mechanism and the pneumatic fingers to move to the target position, the pneumatic fingers are advanced to fix the new suction nozzle on the suction nozzle rotating mechanism, the pneumatic fingers are loosened and retracted to complete the replacement of the new suction nozzle.

7. The method for automatic nozzle changing for a die sorting apparatus of claim 6, wherein the subsequent change is characterized by, The method comprises the following steps: The suction nozzle rotating mechanism rotates 180°, so that the next old suction nozzle rotates to the target position, and the steps of disassembling the old suction nozzle and installing the new suction nozzle are repeated to complete the replacement of the subsequent old suction nozzle.

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