An SMT nozzle cleaning and inspection integrated machine

Abstract

The present invention discloses an integrated SMT nozzle cleaning and inspection machine, which includes a machine body. The machine body includes a frame and a housing outside the frame. Above the frame, there is a working platform. An ultrasonic cleaning mechanism, a drying mechanism, a nozzle inspection mechanism, and a gripper mechanism are installed on the working platform. A wiping and cleaning mechanism for cleaning the nozzle and a reflector inspection mechanism for inspecting whether the reflector is dirty or damaged after cleaning are also installed on the working platform. Among them, the wiping and cleaning mechanism, the drying mechanism, the nozzle inspection mechanism, and the reflector inspection mechanism are located on the same side of the ultrasonic cleaning mechanism, and the ultrasonic cleaning mechanism, the drying mechanism, the nozzle inspection mechanism, and the reflector inspection mechanism are arranged in sequence along a first straight line. The wiping and cleaning mechanism and the drying mechanism are arranged in sequence along a second straight line perpendicular to the first straight line. The gripper mechanism has the shortest moving stroke, improving the efficiency of the equipment. In addition, the wiping and cleaning mechanism and the reflector inspection mechanism are added, reducing the defective rate.

Description

Technical Field

[0001] The present invention belongs to the technical field of SMT nozzle cleaning and inspection equipment, and particularly relates to an SMT nozzle cleaning and inspection integrated machine. Background Art

[0002] With the development of industries such as electronics and 5G communication, SMT pick-and-place machines are also developing rapidly. Not only are the sizes of components getting smaller and the SMT chip mounting density getting higher, but new packaging forms are also constantly being introduced. To meet the needs of high-density and high-difficulty SMT chip mounting and processing technologies, the requirements for the nozzles of SMT pick-and-place machines are getting higher and higher.

[0003] Existing SMT nozzle cleaning and inspection integrated machines mainly include an ultrasonic cleaning mechanism, a camera module for detecting dirt and / or blockage after nozzle cleaning, and a gripper mechanism for gripping and moving the nozzle. However, the existing SMT nozzle cleaning and inspection equipment still has the following problems: 1. Since the nozzle includes a nozzle body and a reflector plate adhered to the nozzle body by an adhesive, the ultrasonic cleaning mechanism can only clean the front end and the inside of the nozzle body and cannot clean the reflector plate. Ultrasonic waves can cause the peeling of the adhesive or damage to the reflector plate, thereby causing damage to the nozzle. Although there are also nozzle cleaning mechanisms in the prior art that are not ultrasonic cleaning, their structures are generally more complex and occupy a large area, and they cannot be adapted to the existing SMT nozzle cleaning and inspection equipment and need to be installed independently outside the SMT nozzle cleaning and inspection equipment. 2. A clamping mechanism driven by a three-axis platform is used to clamp and transfer the nozzle to be cleaned from the tray fixture to the cleaning mechanism, then clamp and transfer the cleaned nozzle to the drying mechanism for drying. After drying is completed, the dried nozzle is clamped and transferred to the inspection equipment, and finally the inspected nozzle is clamped and transferred to the tray fixture for delivery or transferred to the storage equipment. The above-mentioned gripper mechanism is generally an ordinary gripper. When this gripper transfers the nozzle to a specified position and releases the nozzle, the nozzle only falls by its own gravity. In addition, due to the excessive clamping force or long clamping time of the gripper, when the gripper is released, the nozzle may stay on the gripper briefly, resulting in a slow placement speed of the nozzle and low working efficiency of the equipment, which needs to be further improved. 3. The cleaning process of the existing SMT nozzle cleaning and inspection equipment is generally nozzle cleaning → nozzle drying → inspection → removal of defective products → nozzle removal. The layout of the mechanisms involved in each step, such as the cleaning mechanism, drying mechanism, inspection mechanism, etc., still needs to be improved. For example, the travel between the mechanisms corresponding to adjacent steps is relatively long, resulting in low efficiency of the entire equipment. To solve the above technical problems, the present invention is thus developed. Summary of the Invention

[0004] Aiming at at least one of the above existing technical problems, the purpose of the present invention is to provide an SMT nozzle cleaning and inspection integrated machine.

[0005] The technical solution of the present invention is as follows:

[0006] The purpose of the present invention is to provide an SMT nozzle cleaning and inspection integrated machine, which includes a machine body. The machine body includes a frame and a housing outside the frame. Above the frame, there is a working platform. On the working platform, there are installed an ultrasonic cleaning mechanism for cleaning the nozzle body of the nozzle, a drying mechanism for drying the nozzle, a nozzle inspection mechanism for inspecting whether the nozzle body is dirty or blocked after cleaning the nozzle body, and a clamping mechanism for clamping and moving the nozzle. The clamping mechanism is installed above the working platform through a three-axis moving platform. On the working platform, there are also installed a wiping and cleaning mechanism for cleaning the reflector of the nozzle and a reflector inspection mechanism for inspecting whether the reflector is dirty or damaged after cleaning the reflector;

[0007] Among them, the wiping and cleaning mechanism, the drying mechanism, the nozzle inspection mechanism, and the reflector inspection mechanism are arranged on the same side of the ultrasonic cleaning mechanism, and the ultrasonic cleaning mechanism, the drying mechanism, the nozzle inspection mechanism, and the reflector inspection mechanism are arranged in sequence along a first straight line. The wiping and cleaning mechanism and the drying mechanism are arranged in sequence along a second straight line perpendicular to the first straight line.

[0008] Compared with the prior art, the advantages of the present invention are as follows:

[0009] In the SMT nozzle cleaning and inspection integrated machine of the present invention, the ultrasonic cleaning mechanism, the drying mechanism, the nozzle inspection mechanism, and the reflector inspection mechanism are arranged in a straight line, and the wiping and cleaning mechanism and the drying mechanism are on the same straight line. After a working process (ultrasonic cleaning → reflector cleaning → nozzle drying → flow rate detection → nozzle inspection → reflector inspection), the moving stroke of the clamping mechanism is the shortest, thereby improving the efficiency of the equipment. In addition, a wiping and cleaning mechanism for cleaning the reflector of the SMT nozzle is added, which solves the problem that in the prior art, when only the ultrasonic cleaning mechanism is used to clean the SMT nozzle, the reflector cannot be cleaned, or the adhesive will be peeled off or the reflector will be damaged during cleaning, improves the yield rate of the nozzle after cleaning, and reduces the defective rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] The present invention will be further described below in conjunction with the drawings and embodiments:

[0011] Figure 1 is a three-dimensional structural schematic diagram of an SMT nozzle cleaning and inspection integrated machine (the housing is omitted) according to an embodiment of the present invention from an angle;

[0012] Figure 2 is Figure 1 a three-dimensional structural schematic diagram of the SMT nozzle cleaning and inspection integrated machine in

[0013] Figure 3 Schematic diagram of the three - dimensional structure of another angle of the SMT nozzle cleaning and inspection integrated machine (including a housing) according to an embodiment of the present invention;

[0014] Figure 4 It is Figure 3 Partial enlarged structural schematic diagram of part A in;

[0015] Figure 5 Schematic diagram of the structure of the working platform, clamping jaw mechanism and three - axis moving platform of the SMT nozzle cleaning and inspection integrated machine according to an embodiment of the present invention;

[0016] Figure 6 Schematic diagram of the three - dimensional structure of one angle of the wiping and cleaning mechanism of the SMT nozzle cleaning and inspection integrated machine according to an embodiment of the present invention;

[0017] Figure 7 Schematic diagram of the three - dimensional structure of another angle of the wiping and cleaning mechanism of the SMT nozzle cleaning and inspection integrated machine according to an embodiment of the present invention;

[0018] Figure 8 Rear - view structural schematic diagram of the wiping and cleaning mechanism of the SMT nozzle cleaning and inspection integrated machine according to an embodiment of the present invention;

[0019] Figure 9 Schematic diagram of the three - dimensional structure of the nozzle inspection mechanism and the reflector inspection mechanism of the SMT nozzle cleaning and inspection integrated machine according to an embodiment of the present invention;

[0020] Figure 10 Schematic diagram of the three - dimensional structure of one angle of the clamping jaw mechanism of the SMT nozzle cleaning and inspection integrated machine according to an embodiment of the present invention;

[0021] Figure 11 Schematic diagram of the three - dimensional structure of another angle of the clamping jaw mechanism of the SMT nozzle cleaning and inspection integrated machine according to an embodiment of the present invention;

[0022] Figure 12 Schematic diagram of the three - dimensional structure of another angle of the clamping jaw mechanism of the SMT nozzle cleaning and inspection integrated machine according to an embodiment of the present invention;

[0023] Figure 13 It is Figure 12 Partial enlarged structural schematic diagram of part B in;

[0024] Figure 14 Cross - sectional structural schematic diagram of the clamping jaw mechanism of the SMT nozzle cleaning and inspection integrated machine according to an embodiment of the present invention;

[0025] Figure 15 It is Figure 14 Partial enlarged structural schematic diagram of part C in.

[0026] Among them: 1. Feeding mechanism; 11. Clamping seat; 111. Clamping plate; 1111. Seat body; 1112. Cover plate; 11121. Avoidance groove; 112. Suction nozzle fixture; 1120. Roller; 1121. Positioning groove; 12. Driving mechanism; 113. Driving component; 1130. Fixing plate; 13. Guide mechanism; 2. Ultrasonic cleaning mechanism; 3. Wiping cleaning mechanism; 31. Mounting base; 311. Opening; 312. Extension wall; 32. Wiping assembly; 320. Mounting plate; 321, wiping unit; 322, first driving member; 3221, driving end; 323, transmission member; 33, suction joint; 331, speed controller; 34, filter; 4, drying mechanism; 5, suction nozzle inspection mechanism; 50, first mounting base; 51, first placement base; 52, first light source; 53, first camera module; 54, first adjustment slot; 6, reflection plate inspection mechanism; 60, second mounting base; 61, second placement base; 62, second light source; 6 3. Second camera module; 64. Second adjustment slot; 7. Clamping mechanism; 71. XY axis moving platform; 72. Clamping mechanism; 721. Mounting substrate; 722. Clamping mechanism; 7221. Second driving member; 7222. Clamping claw; 72221. Clamping portion; 72222. Clamping extension portion; 72223. Lateral extension portion; 723. Elastic device; 7231. Mounting block; 72311. Second limiting wall; 7232. Elastic component; 72321. Movable push rod ; 723211, first limiting wall; 723212, vent; 72322, elastic member; 724, Z-axis moving platform; 725, third camera device; 8, defective product temporary storage mechanism; 9, shelving mechanism; 10, rack; 100, working platform; 101, first avoidance gap; 102, first mounting hole; 103, second mounting hole; 104, third mounting hole; 105, fourth mounting hole; 106, fifth mounting hole; 110, shell; 200, mounting platform. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical scheme and advantages of the present invention clearer, the present invention is further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings. It should be understood that these descriptions are only exemplary and are not intended to limit the scope of the present invention. In addition, in the following description, the description of well-known structures and technologies is omitted to avoid unnecessary confusion of the concept of the present invention. Example

[0028] See also Figures 1 to 15 The embodiment of the present invention is an SMT nozzle cleaning and inspection integrated machine, comprising a machine body, the machine body comprising a frame 10 and a shell 110 arranged outside the frame 10. A working platform 100 is arranged above the frame 10. Figure 1 and Figure 2As shown in the figure, an ultrasonic cleaning mechanism 2, a drying mechanism 4, a nozzle inspection mechanism 5, a wiping and cleaning mechanism 3, and a reflector inspection mechanism 6 are installed on the working platform 100. The ultrasonic cleaning mechanism 2 is provided for cleaning the front end and the inside of the nozzle body of the SMT nozzle. The drying mechanism 4 is provided for drying the SMT nozzle after cleaning. The nozzle inspection mechanism 5 is provided for inspecting whether the surface and the inside of the nozzle body after cleaning are cleaned, whether there is dirt, whether there is damage to the inside of the nozzle body, and whether the inside is blocked. The wiping and cleaning mechanism 3 is provided for cleaning the reflector of the SMT nozzle. The reflector inspection mechanism 6 is provided for inspecting whether there is still dirt on the surface of the reflector after cleaning and whether the reflector is damaged. The clamping jaw mechanism 72 is installed on a three-axis moving platform provided above the working platform 100. The clamping jaw mechanism 72 and the three-axis moving platform together constitute a clamping mechanism 7. The wiping and cleaning mechanism 3, the drying mechanism 4, the nozzle inspection mechanism 5, and the reflector inspection mechanism 6 are arranged on the same side of the ultrasonic cleaning mechanism 2, and the ultrasonic cleaning mechanism 2, the drying mechanism 4, the nozzle inspection mechanism 5, and the reflector inspection mechanism 6 are arranged in sequence along a first straight line. The wiping and cleaning mechanism 3 and the drying mechanism 4 are arranged in sequence along a second straight line perpendicular to the first straight line. Specifically, as Figure 5 shown, the working platform 100 is a square plate with a relief notch (for the sake of description and distinction, the relief notch on the working platform 100 is described as the first relief notch 101) at the front end. A plurality of mounting holes are opened on the working platform 100. Specifically, a square mounting hole (for the sake of description and distinction, hereinafter described as the first mounting hole 102), a circular mounting hole with a smaller diameter (for the sake of description and distinction, hereinafter described as the second mounting hole 103), and two circular mounting holes with larger diameters (for the sake of description and distinction, hereinafter described as the third mounting hole 104 and the fourth mounting hole 105) are respectively opened from left to right near the relief notch of the working platform 100. A convex-shaped special-shaped mounting hole (for the sake of description and distinction, hereinafter described as the fifth mounting hole 106) is provided on the rear side of the circular mounting hole with a smaller diameter, that is, on the side far from the relief notch. The first mounting hole 102 is the mounting hole of the ultrasonic cleaning mechanism 2, the second mounting hole 103 is the mounting hole of the drying mechanism 4, the fifth mounting hole 106 is the mounting hole of the reflector cleaning mechanism, the third mounting hole 104 is the mounting hole of the nozzle inspection mechanism 5, and the fourth mounting hole 105 is the mounting hole of the reflector inspection mechanism 6. The first mounting hole 102, the second mounting hole 103, the third mounting hole 104, and the fourth mounting hole 105 are arranged in a straight line (for the sake of description and distinction, hereinafter described as the first straight line) in the left-to-right direction, that is, in the direction from the left front to the right rear as Figure 5 shown. The fifth mounting hole 106 and the second mounting hole 103 are arranged in the front-to-rear direction, that is, as Figure 5The straight line in the left-rear to right-front direction (hereinafter referred to as the second straight line for the convenience of description and distinction) is arranged, and the second straight line is perpendicular to the first straight line. The three-axis moving platform includes an XY-axis moving platform 71 straddling above a plurality of mounting holes on the working platform 100, a gripper mechanism 72, and a Z-axis moving platform 724 provided on the XY-axis moving platform 71. The gripper mechanism 72 is installed on the Z-axis moving platform 724 and can move up and down in the vertical direction under the drive of the Z-axis moving platform. The XY-axis moving platform 71 drives the gripper mechanism 72 to move horizontally between the plurality of mounting holes, and the Z-axis moving platform 724 drives the gripper mechanism 72 to move in the vertical direction to approach or move away from the mechanism at the corresponding mounting hole position to perform corresponding operations. In the SMT nozzle cleaning and inspection integrated machine according to the embodiment of the present invention, through the above layout, since the ultrasonic cleaning mechanism 2, the drying mechanism 4, the nozzle inspection mechanism 5, and the reflector inspection mechanism 6 are arranged on a straight line and the wiping and cleaning mechanism 3 and the drying mechanism 4 are on the same straight line, after a working process (ultrasonic cleaning → reflector cleaning → nozzle drying → flow detection → nozzle inspection → reflector inspection), the moving stroke of the gripper mechanism 72 is the shortest, thereby improving the efficiency of the equipment. In addition, a wiping and cleaning mechanism 3 for cleaning the reflector of the SMT nozzle is added, which solves the problem in the prior art that when only the ultrasonic cleaning mechanism 2 is used to clean the SMT nozzle, the reflector cannot be cleaned, or the adhesive is peeled off during cleaning, or the reflector is damaged. Compared with other existing non-ultrasonic cleaning mechanisms, the nozzle cleaning mechanism in the embodiment of the present invention is installed on a working platform 100 at the same time, with a smaller size, and does not require major modifications to the existing SMT nozzle cleaning and inspection equipment, and will not cause an increase in the size of the entire equipment.

[0029] Regarding the ultrasonic cleaning mechanism 2, no detailed description and limitation are made. It is a conventional ultrasonic cleaning mechanism 2 in the prior art, such as including a cleaning tank or cleaning pool or cleaning box containing cleaning liquid, a cleaning fixture (not shown) placed in the cleaning tank or cleaning pool or cleaning box, and an ultrasonic generating device (not shown) for generating ultrasonic waves. The cleaning fixture has a plurality of cleaning grooves (not shown) for placing the nozzles to be cleaned.

[0030] According to some preferred embodiments of the present invention, such as Figure 2As shown in the figure, an installation platform 200 is further provided below the first avoidance notch 101. A second avoidance notch (not labeled) for the front end of the installation platform 200 to extend out is formed on the housing 110 corresponding to the position of the installation platform 200. The installation platform 200 is provided to install the feeding mechanism 1 for nozzle loading. At the same time, the installation platform 200 is set to extend out of the housing 110 by a part to form a preparation loading station for nozzle preparation. The part extending out of the housing 110 serves as a shared nozzle exchange station for the SMT nozzle cleaning and inspection machine and the SMT nozzle mounter (not shown). That is to say, the preparation loading station serves both as a preparation loading station for receiving the nozzles to be cleaned removed from the SMT nozzle mounter and as a loading station for supplying clean nozzles to the SMT nozzle mounter after cleaning. At least two feeding mechanisms 1 arranged side by side and working independently are provided on the installation platform 200. Any one of the feeding mechanisms 1 includes a clamp seat 11 that can be driven to reciprocate between the preparation loading station and the cleaning loading station, and a driving mechanism 12 provided on the installation platform 200 with its driving end 3221 connected to the clamp seat 11. A plurality of positioning grooves 1121 for nozzle placement are formed on the clamp seat 11. In use, the clamp seat 11 of at least one of the at least two feeding mechanisms 1 is at the preparation loading station, and the clamp seats 11 of the remaining feeding mechanisms 1 are at the cleaning loading station. With such a setting, one of them performs cleaning and loading at the cleaning station, and the other is at the preparation loading station to perform the loading preparation operation for the next batch of nozzles, so that the nozzle loading preparation and cleaning can be carried out synchronously, improving the equipment utilization rate and further improving the efficiency of the entire equipment. Preferably, as Figure 2 shown, the four feeding mechanisms 1 are arranged at intervals along a straight line parallel to the first straight line direction. More specifically, as Figure 4 shown, any one of the clamp seats 11 includes a clamping plate 111, a nozzle fixture 112, and a driving component for driving the clamping plate 111 to move horizontally relative to the nozzle fixture 112. The nozzle fixture 112 is provided with positioning grooves 1121. The clamping plate 111 includes a seat body 1111 and a cover plate 1112 that are opposite and spaced up and down. A clamping cavity is defined between the seat body 1111 and the cover plate 1112. Avoidance grooves 11121 corresponding to the positioning grooves 1121 on the nozzle fixture 112 are formed on the cover plate 1112. The nozzle fixture 112 is arranged in the clamping cavity. The driving component 113 is arranged on the side of the clamping plate 111 and its driving end is connected to the seat body 1111. Specifically, as Figure 4As shown in the figure, a U-shaped fixing plate 1130 is provided on the side wall of the seat body 1111. The open end of the fixing plate 1130 is fixed to the side wall of the seat body 1111, and the closed end is connected to the driving end of the driving component 113. When the axis of the positioning groove 1121 is offset from the axis of the corresponding avoiding groove 11121, the nozzle in the positioning groove 1121 is fixed on the clamping seat 11 under the extrusion of the opposite side walls of the corresponding positioning groove 1121 and avoiding groove 11121; when the axis of the positioning groove 1121 is collinear with the axis of the corresponding avoiding groove 11121, the nozzle in the positioning groove 1121 is not fixed. At this time, the nozzle can be placed on the clamping seat 11 or taken out from the clamping seat 11. That is to say, relative movement is possible between the clamping plate 111 and the nozzle jig 112. When placing or removing the nozzle, the clamping plate 111 is driven to move so that the positioning groove 1121 on the nozzle jig 112 is offset from the avoiding groove 11121 on the cover plate 1112; and during the process of the nozzle moving from the preparation feeding station to the cleaning feeding station, the axes of the positioning groove 1121 and the avoiding groove 11121 are offset. In this way, the opposite sides of the nozzle respectively abut against the side walls of the avoiding groove 11121 and the positioning groove 1121, so that the nozzle is clamped in the avoiding groove 11121 and the positioning groove 1121, and the nozzle can be prevented from falling off the clamping seat 11 during the movement. For the driving component 113, optionally, it is a cylinder. Further preferably, in order to reduce the friction force when the nozzle jig 112 moves and facilitate the movement of the nozzle jig 112, as Figure 4 shown, rollers 1120 are further provided on the side wall of the nozzle jig 112, and the rollers 1120 are respectively in rolling cooperation with the upper surface of the seat body 1111 and the lower surface of the cover plate 1112. Further preferably, as Figure 2 shown, any feeding mechanism 1 further includes a guiding mechanism 13 provided on the driving mechanism 12 and extending along the moving direction of the clamping seat 11. Specifically, two guiding mechanisms 13 are symmetrically provided on both sides of the driving rod of each driving mechanism 12. One end of the guiding mechanism 13 is provided on the driving mechanism 12, and the other end is fixed to a fixing block (not marked) at the preparation feeding station on the installation platform 200. Optionally but not limitedly, the driving mechanism 12 is a conventional existing cylinder. It should be noted that a two-dimensional code (not shown) can be provided on the clamping seat 11, and information matching the model of the nozzle to be cleaned fixed thereon is stored in the two-dimensional code. As an alternative embodiment, the two-dimensional code can be directly set on the nozzle.

[0031] According to some preferred embodiments of the present invention, the wiping and cleaning mechanism 3 includes an installation base body 31 and a wiping component 32. Specifically, as Figure 6As shown, the mounting base 31 is a square container with a hollow interior and a mounting area, a bottom surface and a top surface with a square opening 311. The wiping assembly 32 is arranged on the mounting base 31. Specifically, the wiping assembly 32 includes a rotating member (not shown), a wiping unit 321 and a first driving member 322 that drives the rotating member to rotate. Preferably, as Figures 6 to 8 As shown, the two axial ends of the rotating member are respectively rotatably connected to a set of opposite side walls of the mounting base 31, that is, the rotating member is horizontally arranged and can rotate around a horizontal line, the wiping unit 321 is arranged on the outer surface of the rotating member, and the driving end 3221 of the first driving member 322 is connected to one of the axial ends of the rotating member. More specifically, as Figure 7 and Figure 8 As shown, the driving end 3221 of the first driving member 322 and an axial end of the rotating member are connected by a transmission member 323. During cleaning, the SMT suction nozzle to be cleaned is suitable for contacting the reflective plate on it with the wiping unit 321 through the opening 311 on the mounting base 31, and the first driving member 322 drives the rotating member to drive the wiping unit 321 to rotate around the horizontal line to wipe the oil stains on the reflective plate. Compared with the ultrasonic cleaning used in the prior art, the cleaning mechanism of the present invention directly wipes the reflective plate, which will not affect the adhesive between the reflective plate and the suction nozzle body to cause the adhesive to peel off, and will not cause damage to the reflective plate. The cleaning mechanism has a simple structure, a small volume, and a small area occupied during installation. As a replaceable embodiment, the rotating member can also be arranged horizontally, but only one axial end is rotatably connected to one of the side walls of the outer periphery of the mounting area of ​​the mounting base 31, and the other axial end is gap-matched with the other opposite side wall. As another alternative embodiment, the rotating member may also be arranged vertically, that is, the rotating member may rotate around a vertical line. Specifically, the top or bottom end of the rotating member is rotatably connected to the bottom wall surface or the top wall surface of the mounting base 31. When the horizontal arrangement is adopted, the wiping unit 321 on the outer surface of the rotating member is closer to the opening 311, making it easier to clean the reflective plate. When the vertical arrangement is adopted, the reflective plate needs to be extended under the opening 311 for cleaning, and the cleaning stroke is longer, but the reflective plate can also be cleaned without causing any damage. For the wiping unit 321, preferably, the wiping unit 321 covers the entire outer circumferential surface of the rotating member. The wiping unit 321 may be selected from a cleaning cloth, a cleaning cotton, or a brush. Figure 7 and Figure 8As shown, an installation notch (not shown) is formed at the bottom of one of the side walls of the installation base 31. An installation plate 320 extending vertically downward is provided at the installation notch. The bottom of the installation plate 320 extends below the installation base 31 to form an installation portion for installing the first driving member 322. A extending wall 312 horizontally extends outward above the notch on the side wall where the installation notch is formed. A avoidance cavity (not shown) is formed inside the extending wall 312 and the bottom of the avoidance cavity is open to form an avoidance opening. One end of the rotating member extends into the avoidance cavity and above the avoidance opening. The first driving member 322 is installed on one side of the installation plate 320 and its driving end 3221 horizontally passes through the installation plate 320 and extends to the other side of the installation plate 320. A transmission member 323 is further provided at the driving end 3221 of the first driving member 322. The transmission member 323 is in transmission connection with the end of the rotating member extending into the avoidance cavity through the avoidance opening. As an alternative embodiment, the transmission member 323 may not be provided. For example, a gear is provided at the driving end 3221 of the first driving member 322 and a meshing gear is provided at one end of the rotating member. Optionally, the first driving member 322 is a motor and the transmission member 323 is a belt or a chain. Further preferably, as Figures 6 to 8 As shown, an air suction hole is respectively formed on two opposite side walls corresponding to the two axial ends of the rotating member. The axis of any air suction hole passes through the cylindrical body formed by the wiping unit 321 rotating one week. An air suction joint 33 is provided outside any air suction hole. The air suction joint 33 is connected to an external air source. By providing the air suction holes, it can assist in sucking off the dirt on the reflector. Preferably, a speed controller 331 is further provided on any air suction joint 33, that is, a conventional flow rate controller in the prior art. The purpose of sucking off the dirt on the reflector can be achieved by adjusting the air suction flow rate. For example, when the suction force of the air suction hole is not sufficient to suck off the dirt on the reflector, the flow rate at the air suction hole can be appropriately increased, that is, the suction force is increased to achieve the purpose of sucking off the dirt. Even more preferably, as Figures 6 to 8 As shown, a filter 34 is further provided below the bottom surface of the installation base 31. The filter 34 is arranged side by side with the first driving member 322, that is, side by side front and back as shown Figure 8 below the bottom surface of the installation base 31. By providing the filter 34, the noise generated when the cleaning mechanism works can be reduced. The specific connection circuit of the filter 34 is not described and limited. Those skilled in the art know and can easily implement it, which is not the innovation point of the present invention.

[0032] According to some preferred embodiments of the present invention, as Figure 9As shown, the nozzle inspection mechanism 5 and the reflector inspection mechanism 6 both include a mounting base, a placement base, a light source, and a camera module that are sequentially arranged on the mounting base from top to bottom. Any placement base is provided with a placement hole that penetrates vertically for placing the nozzle. Any camera module is movably arranged on the corresponding mounting base in a vertical line direction towards or away from its corresponding light source. For the convenience of description and distinction, the mounting base of the nozzle inspection mechanism 5 is described as the first mounting base 50, the mounting base of the reflector inspection mechanism 6 is described as the second mounting base 60, the placement base in the nozzle inspection mechanism 5 is described as the first placement base 51, the placement base in the reflector inspection mechanism 6 is described as the second placement base 61, the light source and the camera module in the nozzle inspection mechanism 5 are respectively described as the first light source 52 and the first camera module 53, and the light source and the camera module in the reflector inspection mechanism 6 are respectively described as the second light source 62 and the second camera module 63. The first light source 52 and the first camera module 53 are used to take pictures of the nozzle body to detect dirt and damage on the surface of the nozzle body. The second light source 62 and the second camera module 63 are used to take pictures of the reflector to detect dirt and damage on the surface of the reflector. An adjustment slot extending in the vertical direction is provided on the mounting base. Specifically, a first adjustment slot 54 is provided on the first mounting base 50, and a second adjustment slot 64 is provided on the second mounting base 60. The first camera module 53 realizes the adjustment of the distance between the first camera module 53 and the first light source 52 by passing an adjustment screw through the first adjustment slot 54, and the second camera module 63 realizes the adjustment of the distance between the second camera module 63 and the second light source 62 by passing an adjustment screw through the second adjustment slot 64, so as to achieve the purpose of adjusting the focal lengths of the first camera module 53 and the second camera module 63. As Figure 10 shown, a camera module and a light source are also provided on the jaw mechanism 72. For the convenience of description and distinction, the camera module and the light source on the jaw mechanism 72 are described as the third camera module and the third light source. The third camera module and the third light source are used to take pictures to determine whether there is a nozzle to be cleaned on the chuck 11 at the cleaning and loading station and to scan and identify the QR code information on the chuck 11 of the feeding mechanism 1 to obtain the information of the chuck 11 and the nozzle to be cleaned, so as to determine whether the nozzle to be cleaned matches the cleaning fixture in the ultrasonic cleaning mechanism 2. If it matches, the ultrasonic cleaning process is executed. For the light source (including the first light source 52, the second light source 62, and the third light source), infrared rays are preferably used. Compared with the LED white light source in the prior art, by using an infrared light source, since the absorption rates of injuries and dust to infrared rays are different, small injuries and dust on the surface of the SMT nozzle can be detected, and injuries and dust inside the SMT nozzle can also be detected, improving the detection accuracy and efficiency.

[0033] According to some preferred embodiments of the present invention, the number of the jaw mechanisms 72 is at least two. The at least two jaw mechanisms 72 are staggeredly arranged and are arranged on the three-axis moving platform through one mounting substrate 721 or at least two corresponding mounting substrates 721. By way of example, as Figures 10 to 13 shown, in the embodiment of the present invention, the number of the jaw mechanisms 72 is two. Correspondingly, the number of the mounting substrates 721 is also two. The two jaw mechanisms 72 are correspondingly mounted on the two mounting substrates 721. For the jaw mechanism 72, as Figures 13 to 15As shown, any jaw mechanism 72 includes a clamping mechanism 722 and an elastic device 723. The clamping mechanism 722 includes two jaws 7222 and a second driving member 7221 for driving the two jaws 7222 to perform a clamping action or a releasing action. Any elastic device 723 includes a mounting block 7231 and an elastic member 7232. The mounting block 7231 is fixed on a mounting surface of the corresponding mounting substrate 721. Preferably, the second driving member 7221 of the clamping mechanism 722 is fixed on the mounting block 7231 of the elastic device 723. Each jaw 7222 has a clamping portion 72221 extending outward. The two clamping portions 72221 are arranged oppositely to define a clamping space. A through hole is provided in the mounting block 7231. One end of the elastic member 7232 is fixed in the through hole in the mounting block 7231, and the other end at least partially extends outside one end of the through hole facing the mounting space and extends into the clamping space or extends outside one end of the clamping space away from the mounting block 7231. In the embodiment of the present invention, preferably, the elastic member 7232 extends outside one end of the clamping space away from the mounting block 7231. Thus, when the jaws 7222 clamp the suction nozzle, the suction nozzle will push the elastic member 7232 to displace upward to generate elastic potential energy due to compression deformation. The elastic member 7232 preferably includes a movable push rod 72321 and an elastic member 72322 sleeved on the movable push rod 72321, with one end connected to the second limiting wall 72311 in the through hole and the other end connected to the first limiting wall 723211 on the movable push rod 72321. When the jaws 7222 do not clamp an object, the first limiting wall 723211 is outside the through hole. After the jaws 7222 clamp the object, the elastic device 723 abuts against the object being clamped and is pushed by the object being clamped to displace away from the object being clamped until the first limiting wall 723211 abuts against the outer wall of the through hole to generate elastic potential energy for forcing the object being clamped to quickly fall off the jaws 7222 after the jaws 7222 are released. Preferably, in the embodiment of the present invention, the direction of the elastic potential energy of the elastic device 723 is along the vertical direction, that is, consistent with the direction of gravity. In the suction nozzle clamping mechanism 7 of the embodiment of the present invention, by providing an elastic device 723, when it is necessary to put down objects such as the suction nozzle, the elastic potential energy generated by the elastic device 723 being pushed by the object being clamped during clamping is used to push the object being clamped such as the suction nozzle to quickly fall off the jaws 7222. When the direction of the elastic potential energy of the elastic device 723 is consistent with the direction of gravity, a superimposing effect can be achieved to further improve the placing speed. That is to say, when the direction of the elastic potential energy in the embodiment of the present invention is not consistent with the direction of gravity, the purpose of improving the placing speed can also be achieved. The clamping portion 72221 is an L-shaped clamping structure. Preferably, as Figure 13 shown, any clamping portion 72221 further has a clamping extension portion 72222 extending in a direction away from the mounting block 7231. The shape of the clamping extension portion 72222 is preferably as Figure 13The arc shown matches the outer shape of the suction nozzle to be clamped. One end of any clamping extension 72222 away from the clamping part 72221, that is, as Figure 13 and Figure 14 shown, the lower end has a transverse extension 72223. The two clamping extensions 72222 are opposite to each other and the two transverse extensions 72223 are opposite to each other to jointly define a clamping space. In the embodiment of the present invention, the setting of the clamping extension 72222 can not only play a role in strengthening the clamping, but also play a role in guiding the displacement of the movable rod. The setting of the transverse extension 72223 can support and limit the object when the jaw 7222 clamps the object, improving the clamping firmness. For the second driving member 7221, it is preferably a conventional cylinder, that is, the clamping mechanism 722 is preferably a conventional pneumatic jaw 7222. Further preferably, the projection of the pushing member or elastic member 7232 in the clamping space is at the center of the clamping space. That is, the pushing member or elastic member 7232 is at the central position of the clamping space, which is convenient for the jaw mechanism 72 to center when clamping the suction nozzle, and the moving strokes of the two jaws 7222 are the same.

[0034] According to some preferred embodiments of the present invention, as Figure 14 and Figure 15 shown, the suction nozzle inspection device further includes a vent hole 723212 provided in the movable push rod 72321 or the pushing member, a vacuum generating device connected to the vent hole 723212, and a detection device for measuring the flow rate provided on the pipeline connecting the vent hole 723212 and the vacuum generating device. The vent hole 723212 penetrates one end of the pushing member or the movable push rod 72321 facing the installation space. When the jaw 7222 clamps an object such as a suction nozzle, the upper end of the suction nozzle extends into the vent hole 723212. Through the setting of the vent hole 723212, the vent hole 723212 is connected to a vacuum generating device such as a vacuum pump, and a flow detection device such as a flow meter is provided on the pipeline connecting the two to measure the adsorption flow rate through the vent hole 723212 to determine whether the suction nozzle is blocked. That is to say, the vent hole 723212, the vacuum generating device and the flow detection device jointly constitute a detection mechanism for detecting whether the suction nozzle is blocked after cleaning. The vent hole 723212 of the detection mechanism is directly provided inside the movable push rod 72321 or the pushing member, without additionally adding a ventilation structure, and will not cause the size of the entire device to become larger.

[0035] As an alternative embodiment, the elastic member 7232 may only include a spring, that is, it does not include the movable push rod 72321. At this time, the mounting hole on the mounting block 7231 may not be a through hole, but a blind hole or even no mounting hole needs to be opened on the mounting block 7231. One end of the spring is directly fixed on the mounting block 7231 or fixed on the bottom wall of the blind hole, and the other end is used as an abutting end for abutting against the object to be clamped.

[0036] As another alternative embodiment, the elastic device 723 may not be provided, but instead a rigid pushing device such as a conventional cylinder or hydraulic cylinder may be used. The pushing member is the cylinder shaft of the cylinder or the hydraulic rod of the hydraulic cylinder, or a push rod connected to the cylinder shaft of the cylinder or the hydraulic rod of the hydraulic cylinder. In this case, when in the initial position, the pushing member may not need to extend into the clamping space or even extend out of the clamping space. It only needs to apply a force to force the object such as the suction nozzle to drop when the object such as the suction nozzle is clamped by the clamping jaws 7222 and the pushing member is driven to abut against the object such as the suction nozzle.

[0037] According to some preferred embodiments of the present invention, as Figure 2 shown, a shelving mechanism 9 for placing the suction nozzle when the device stops due to an emergency stop or error during the movement of the clamping jaws mechanism 72 to grasp the suction nozzle is further provided on the working platform 100. The shelving mechanism 9 is arranged on one side of the reflector cleaning mechanism and is arranged in a third straight line parallel to the first straight line with the reflector cleaning mechanism. That is to say, the shelving mechanism 9 is arranged on the working platform 100 on the right side of the wiping and cleaning mechanism 3 as Figure 2 shown and is arranged in a straight line with the wiping and cleaning mechanism 3. Such an arrangement is to make the travel between adjacent mechanisms the shortest, which is more conducive to improving the efficiency of the entire device.

[0038] According to some preferred embodiments of the present invention, as Figure 5As shown, the inner end surface of the first avoidance notch 101 is not a flat surface, but the right side is recessed inward, that is, backward, compared to the left side, so as to leave a blank work station at the front end of the ultrasonic cleaning mechanism 2. This blank work station is provided for the defective product temporary storage mechanism 8. With such a design, the distance from the defective product temporary storage mechanism 8 to the cleaning loading station and the ultrasonic cleaning mechanism 2 is the shortest. When the suction nozzle is clamped by the clamping jaw mechanism 72 at the cleaning loading station and inspected by the third camera module and the third light source on the clamping jaw mechanism 72 after ultrasonic cleaning, when the inspection result shows that the suction nozzle meets the requirements of defective products, the suction nozzle can be moved into the defective product temporary storage mechanism 8 without entering the mechanism corresponding to the next step. As an alternative embodiment, the defective product temporary storage mechanism 8 can also be arranged on the right side of the shelving mechanism 9 or a defective product temporary storage mechanism 8 can also be arranged at this position, that is, at the rear side of the suction nozzle inspection mechanism 5 and the reflector inspection mechanism 6, and the length direction of the defective product temporary storage mechanism 8 extends along the arrangement direction of the suction nozzle inspection mechanism 5 and the reflector inspection mechanism 6. The purpose of this design is to, when it is found that the suction nozzle and / or the reflector meet the requirements of defective products after inspection by the suction nozzle inspection mechanism 5 and the reflector inspection mechanism 6, because the distance from the defective product temporary storage mechanism 8 to the suction nozzle inspection mechanism 5 and the reflector inspection mechanism 6 is shorter, the efficiency of the equipment can be effectively improved. It should be noted that the defective product temporary storage mechanism 8 is a fixture that matches the positioning groove 1121 on the suction nozzle fixture 112 or the fixture groove on the ultrasonic cleaning mechanism 2, that is, the defective product temporary storage mechanism 8 has a plurality of temporary storage grooves with inconsistent apertures, which can correspond to suction nozzles of different sizes. In addition, the suction nozzles on the defective product temporary storage mechanism 8 are taken away manually later. Therefore, in order to facilitate the subsequent removal of defective suction nozzles, the housing 110 has a door and window structure that can be opened, and specific descriptions and limitations are not made here.

[0039] It should be noted that the SMT suction nozzle cleaning and inspection integrated machine according to the embodiment of the present invention further includes conventional structures such as a power switch and a controller for controlling each mechanism to perform corresponding actions, such as a PLC control system, etc., which are not the invention points of the present invention, and specific detailed descriptions and limitations are not made here. Those skilled in the art can easily understand. The drying mechanism 4 is a conventional existing air drying device.

[0040] The working process of the SMT nozzle cleaning and inspection integrated machine according to the embodiment of the present invention is as follows: First, the feeding mechanism 1 transports the nozzle to be cleaned from the preparation loading position to the cleaning loading position. Then, the third camera module scans and identifies the QR code to obtain whether the nozzle to be cleaned matches the cleaning fixture in the ultrasonic cleaning mechanism 2. If it matches, the clamping mechanism 72 grabs the nozzle to be cleaned and places it into the cleaning fixture of the ultrasonic cleaning mechanism 2 for ultrasonic cleaning. After the cleaning is completed, the reflector of the nozzle is wiped and cleaned, and then it is moved to the drying mechanism 4 for drying. After drying, the nozzle does not move to the nozzle inspection mechanism 5 but directly performs a flow rate detection to determine whether the nozzle is blocked. After the flow rate detection is completed, it enters the nozzle inspection process. When there are defective products among the inspected nozzles, the clamping mechanism 72 moves the defective products to the defective product temporary storage mechanism 8. The nozzles that pass the inspection enter the reflector inspection process. When defective products are detected, the defective products are also moved to the defective product temporary storage mechanism 8 by the clamping mechanism 72. And the qualified nozzles after all inspections are finally completed are placed on the clamping seat 11 at the cleaning loading position again, and are driven back to the preparation loading position by the driving mechanism 12 of the feeding mechanism 1, so as to provide the cleaned SMT nozzles for use in the SMT nozzle mounter.

[0041] It should be understood that the above specific embodiments of the present invention are only used for illustrative explanation or interpretation of the principle of the present invention, and do not constitute a limitation to the present invention. Therefore, any modifications, equivalent replacements, improvements, etc. made without departing from the spirit and scope of the present invention shall be included within the protection scope of the present invention. In addition, the appended claims of the present invention are intended to cover all changes and modifications that fall within the scope and boundaries of the appended claims, or equivalent forms of such scope and boundaries.

Claims

1. An SMT nozzle cleaning and inspection integrated machine, comprising a machine body, the machine body includes a frame and a housing outside the frame. Above the frame, there is a working platform. On the working platform, there are installed an ultrasonic cleaning mechanism for cleaning the nozzle body of the nozzle, a drying mechanism for drying the nozzle, a nozzle inspection mechanism for inspecting whether the nozzle body is dirty and blocked after cleaning the nozzle body, and a jaw mechanism for clamping and moving the nozzle. The jaw mechanism is installed above the working platform through a three-axis moving platform, and is characterized in that, The working platform is also equipped with a wiping and cleaning mechanism for cleaning the reflective plate of the suction nozzle and a reflective plate inspection mechanism for checking whether the reflective plate is dirty and damaged after cleaning the reflective plate; Among them, the wiping cleaning mechanism, drying mechanism, suction nozzle inspection mechanism and reflector plate inspection mechanism are arranged on the same side of the ultrasonic cleaning mechanism and the ultrasonic cleaning mechanism, drying mechanism, suction nozzle inspection mechanism and reflector plate inspection mechanism are arranged in sequence along a first straight line, and the wiping cleaning mechanism and the drying mechanism are arranged in sequence along a second straight line perpendicular to the first straight line.

2. The SMT nozzle cleaning and inspection integrated machine according to claim 1, wherein A first avoidance gap is provided at the front end of the working platform, and a mounting platform is further provided below the first avoidance gap. A second avoidance gap is provided on the shell corresponding to the position of the mounting platform for the front end of the mounting platform to extend out, and the front end of the mounting platform extends out of the shell toward the second avoidance gap to form a preparation loading station for the nozzle to load materials. The preparation loading station serves as a common nozzle exchange station platform for the SMT nozzle cleaning and inspection all-in-one machine and the SMT nozzle placement machine, and one end of the mounting platform close to the first avoidance gap is implemented as a cleaning and loading station; At least two feeding mechanisms arranged side by side and working independently are provided on the installation platform; Any feeding mechanism comprises a clamping seat which can be driven to reciprocate between the preparation loading station and the cleaning loading station, and a driving mechanism which is arranged on the mounting platform and has a driving end connected to the clamping seat, and the clamping seat is provided with a plurality of positioning grooves for placing the suction nozzle; When in use, the clamping seat of at least one of the at least two feeding mechanisms is in a loading preparation position, and the clamping seats of the other feeding mechanisms are in a cleaning loading position.

3. The SMT nozzle cleaning and inspection integrated machine according to claim 2, characterized in that, Any of the clamping seats comprises a clamping plate, a nozzle fixture and a driving component for driving the clamping plate to move horizontally relative to the nozzle fixture, and the nozzle fixture is provided with the positioning groove; The clamping plate comprises a seat body and a cover plate which are opposite to each other and spaced apart from each other, a clamping cavity is defined between the seat body and the cover plate, and an avoidance groove which corresponds to the positioning groove on the nozzle fixture is formed on the cover plate; The nozzle fixture is arranged in the clamping cavity, the driving component is arranged on the side of the clamping plate and its driving end is connected to the seat body; When the axis of the positioning groove is offset from the axis of the corresponding avoidance groove, the suction nozzle in the positioning groove is squeezed by the corresponding positioning groove and the relative side walls of the avoidance groove and is fixed on the clamping seat; when the axis of the positioning groove is collinear with the axis of the corresponding avoidance groove, the suction nozzle in the positioning groove is not fixed.

4. The SMT nozzle cleaning and inspection integrated machine according to claim 1 or 2, characterized in that, The wiping and cleaning mechanism comprises: A mounting base, which is hollow inside to form a mounting area and the top of the mounting area is open; The wiping assembly comprises a rotating member installed in the installation area and rotatably connected to the wall surface of the outer periphery of the installation area of ​​the installation base at least at one end thereof, which can be driven to rotate around a horizontal line or a vertical line, a wiping unit installed on the outer surface of the rotating member, and a first driving member connected to the rotating member and used to drive the rotating member to rotate; The SMT nozzle to be cleaned is suitable for being cleaned by bringing the reflective plate thereon into contact with the wiping unit through the opening.

5. The SMT nozzle cleaning and inspection integrated machine according to claim 4, characterized in that, An installation notch is formed at the bottom of one side wall of the installation base body, and an installation plate extending vertically downward is provided at the installation notch; On the side wall where the installation notch is formed, an extension wall extends horizontally outward above the notch. The extension wall has an avoidance cavity, and the bottom of the avoidance cavity is open to form an avoidance opening. One end of the rotating member extends into the avoidance cavity and above the avoidance opening; The first driving member is installed on one side of the installation plate, and its driving end horizontally passes through the installation plate and extends to the other side of the installation plate. A transmission member is further provided at the driving end of the first driving member, and the transmission member is connected to the end of the rotating member extending into the avoidance cavity through the avoidance opening.

6. The SMT nozzle cleaning and inspection integrated machine according to claim 2, wherein, Both the nozzle inspection mechanism and the reflector inspection mechanism include an installation base, a placement base body, a light source, and a camera module sequentially arranged on the installation base from top to bottom. Any one of the placement base bodies is provided with a placement hole vertically penetrating for placing the nozzle, and any one of the camera modules is arranged on the corresponding installation base so as to be movable in the vertical line direction toward or away from its corresponding light source; A camera module and a light source are provided on the clamping jaw mechanism and arranged toward the placement base body; Any one of the light sources uses infrared rays.

7. The SMT nozzle cleaning and inspection integrated machine according to claim 1 or 2 or 6, characterized in that, The number of the clamping jaw mechanisms is at least two. At least two clamping jaw mechanisms are arranged staggeredly and are arranged on the three-axis moving platform through an installation substrate or at least two corresponding installation substrates; Any one of the clamping jaw mechanisms includes: A clamping mechanism, which includes two relatively arranged clamping jaws and a second driving member for driving the two clamping jaws to perform clamping or loosening actions. Any one of the clamping jaws has a clamping portion extending outward, and the two clamping portions face each other to define a clamping space; An elastic device, which includes a mounting block fixed on one mounting surface of the mounting substrate and an elastic member provided on the mounting block and at least partially extending outside the mounting block and extending into the clamping space or extending outside one end of the clamping space away from the mounting block when the clamping jaws do not grip an object; or a pushing device, which includes a mounting block fixed on one mounting surface of the mounting substrate and a pushing member movably provided on the mounting block; After the clamping jaws grip an object, the elastic member abuts against the gripped object and generates elastic potential energy that forces the gripped object to quickly fall off the clamping jaws after the clamping jaws are loosened due to the pushing action of the gripped object; or the pushing member abuts against the gripped object and applies an outward thrust to the gripped object.

8. The SMT nozzle cleaning and inspection integrated machine according to claim 7, wherein, The elastic member includes a movable push rod and an elastic member. A vertically penetrating through hole is formed in the mounting block; Both ends of the movable push rod are respectively placed outside both ends of the through hole, and the elastic member is sleeved on the outer periphery of the portion of the movable push rod placed in the through hole; A first limiting wall is provided on the outer wall of the end of the movable push rod facing the clamping space, and a second limiting wall opposite to the first limiting wall is provided on the inner wall of the through hole. Both ends of the elastic member are respectively connected to the first limiting wall and the second limiting wall; When the gripper does not grip an object, the first limiting wall is outside the through hole; after the gripper grips an object, the first limiting wall compresses the elastic member until it abuts against one end of the through hole facing the clamping space.

9. The SMT nozzle cleaning and inspection integrated machine according to claim 8, wherein The nozzle inspection device further includes a ventilation hole provided in the movable push rod or the pushing member, a vacuum generating device connected to the ventilation hole, and a flow detection device provided on the pipeline connecting the ventilation hole and the vacuum generating device; The ventilation hole penetrates through one end of the pushing member or the movable push rod facing the clamping space.

10. The SMT nozzle cleaning and inspection integrated machine according to claim 1 or 2 or 6, characterized in that On the working platform, there is also a shelving mechanism for placing the nozzle when the equipment stops due to an emergency stop or an error during the movement of the gripper mechanism to grab the nozzle. The shelving mechanism is provided on one side of the wiping and cleaning mechanism and is arranged with the wiping and cleaning mechanism along a third straight line parallel to the first straight line; and / or On the working platform, there is also a defective product temporary storage mechanism, and the defective product temporary storage mechanism is provided on the front side of the ultrasonic cleaning mechanism.

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