Chip pickup device

Abstract

The invention relates to the technical field of chip picking, and particularly discloses a chip picking device which comprises a supporting frame, a rotating mechanism, a first picking mechanism and a second picking mechanism. According to the chip picking device, the first picking mechanism is arranged and connected with the lower half section of the first transmission belt, and the second picking mechanism is arranged and connected with the upper half section of the first transmission belt, so that chips on two channels of chip conveying equipment can be picked and transferred at the same time; therefore, the pickup efficiency of the chip is improved, and the problem that the pickup efficiency is low due to the fact that the chip pickup device in the prior art is difficult to pick the dual-channel chip conveying equipment at the same time is effectively solved. And meanwhile, the first picking mechanism is in sliding fit with the rotating mechanism, and the second picking mechanism is in sliding fit with the rotating mechanism, so that the stability of the first picking mechanism and the second picking mechanism during operation can be ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of chip picking, and in particular to a chip picking device. Background Art

[0002] Semiconductor is a general term for a class of materials. Semiconductor chips are large collections of circuits made of semiconductor materials. Chips are products formed by different types of integrated circuits or a single type of integrated circuit. They can be etched and wired on semiconductor sheets to make semiconductor devices that can achieve certain functions. During the production process, chips need to go through steps such as picking up, mounting, and packaging. Among them, chip picking is the process of picking up the chip from the wafer and transferring it to the substrate. During the picking process, parameters such as ejector pin peeling, picking displacement, picking speed, and contact pressure holding are all crucial. If the picking mechanism contacts the chip too fast or the impact force is too large, it is easy to over-press the chip, causing the bottom of the chip to break at the contact point with the ejector pin, seriously affecting the chip transfer efficiency and packaging process.

[0003] The chip picking device in the prior art mostly picks up the chips in one direction during operation. For a dual-channel chip conveying device, it is difficult to pick up and transport the chips at the same time, resulting in a low chip picking efficiency. Summary of the invention

[0004] The purpose of the present invention is to provide a chip picking device to solve the problem that the chip picking device in the prior art is difficult to pick up a dual-channel chip conveying device at the same time, resulting in low picking efficiency.

[0005] In order to solve the above problems, the present invention provides a chip picking device, which includes: a support frame; a rotating mechanism, which is arranged on the support frame, and the rotating mechanism has a first transmission belt, which is rotatably arranged; a first picking mechanism, which is liftably arranged on the lower half of the first transmission belt and slidingly cooperates with the rotating mechanism, and the first picking mechanism can pick up chips on one channel of a chip conveying device; a second picking mechanism, which is liftably arranged on the upper half of the first transmission belt and slidingly cooperates with the rotating mechanism, and the second picking mechanism can pick up chips on another channel of the chip conveying device.

[0006] As a preferred technical solution for the chip picking device, the first picking mechanism includes a first lifting part and a first gripping part, the second picking mechanism includes a second lifting part and a second gripping part, the first lifting part can be lifted and lowered at the lower half of the first transmission belt, the first gripping part can be rotatably arranged on the first lifting part, the first gripping part can pick up chips on one channel of the chip conveying equipment, the second lifting part can be lifted and lowered at the upper half of the first transmission belt, the second gripping part can be rotatably arranged on the second lifting part, and the second gripping part can pick up chips on another channel of the chip conveying equipment.

[0007] As an optimal technical solution for the chip picking device, the first lifting part includes a fixed frame, a first fixed plate and a first driving structure. The fixed frame is connected to the lower half of the first transmission belt and slidingly cooperates with the rotating mechanism. The first fixed plate is connected to the fixed frame. The first driving structure is arranged on the first fixed plate and can drive the first grabbing part to lift and lower.

[0008] As a preferred technical solution for the chip picking device, the first driving structure includes a first driving motor, a first transmission wheel, a second transmission wheel and a second transmission belt. The first transmission wheel and the second transmission wheel are arranged on a first fixed plate at intervals in the vertical direction. The second transmission belt is installed on the first transmission wheel and the second transmission wheel. The first driving motor is installed on the first fixed plate. The output shaft of the first driving motor is connected to the first transmission wheel or the second transmission wheel, and the first grasping part is connected to the second transmission belt.

[0009] As a preferred technical solution for the chip picking device, the first grasping part includes a positioning seat, a second drive motor, a connecting plate and a vacuum suction cup. The positioning seat is connected to the second transmission belt, the second drive motor is installed on the positioning seat, the output shaft of the second drive motor is connected to one side of the connecting plate, the vacuum suction cup is connected to the other side of the connecting plate, and the second drive motor drives the connecting plate to rotate.

[0010] As a preferred technical solution for the chip picking device, there are multiple vacuum suction cups, and the multiple vacuum suction cups are arranged at intervals on the other side of the connecting plate.

[0011] As a preferred technical solution for the chip picking device, the positioning seat includes a positioning block and a positioning plate connected to each other, the positioning block is connected to the second transmission belt, and the second drive motor is installed on the positioning plate.

[0012] As a preferred technical solution for the chip picking device, the rotating mechanism includes a back plate, a second driving structure, a first sliding structure and a second sliding structure. The back plate is connected to the support frame. The second driving structure is arranged on the back plate and can drive the first transmission belt to rotate. The first sliding structure and the second sliding structure are both arranged on the back plate. The first sliding structure and the first picking mechanism are slidably matched, and the second sliding structure and the second picking mechanism are slidably matched.

[0013] As a preferred technical solution for the chip picking device, the second driving structure includes a third driving motor, a third transmission wheel and a fourth transmission wheel. The third transmission wheel and the fourth transmission wheel are arranged on the back plate at intervals in the horizontal direction. The first transmission belt is installed on the third transmission wheel and the fourth transmission wheel. The third driving motor is installed on the back plate, and the output shaft of the third driving motor is connected to the third transmission wheel or the fourth transmission wheel.

[0014] As a preferred technical solution for the chip picking device, the first sliding structure includes a slide rail and a slider. The slide rail is arranged on the back plate and extends in the horizontal direction. The slider is arranged on the slide rail and slides with the slide rail. The slider is connected to the first picking mechanism.

[0015] The beneficial effects of the present invention are:

[0016] The present invention provides a chip picking device, which includes a support frame, a rotating mechanism, a first picking mechanism and a second picking mechanism. The chip picking device of the present invention is provided with a first picking mechanism connected to the lower half of the first transmission belt, and a second picking mechanism connected to the upper half of the first transmission belt. With such a configuration, the chips on the two channels of the chip conveying device can be picked up and transported at the same time, thereby improving the chip picking efficiency, and effectively solving the problem that the chip picking device in the prior art is difficult to pick up the dual-channel chip conveying device at the same time, resulting in low picking efficiency. At the same time, the first picking mechanism is slidably matched with the rotating mechanism, and the second picking mechanism is slidably matched with the rotating mechanism, so that the stability of the first picking mechanism and the second picking mechanism during operation can be ensured. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a front view of a chip pickup device in an embodiment of the present invention;

[0018] Figure 2 for Figure 1 The enlarged view of point A in the middle;

[0019] Figure 3 A side view of a chip pickup device in an embodiment of the present invention;

[0020] Figure 4 for Figure 3 The enlarged view of point B in the middle;

[0021] Figure 5 Schematic diagram of a partial structure of a chip pickup device in an embodiment of the present invention.

[0022] In the figure:

[0023] 1. Support frame;

[0024] 2. Rotating mechanism; 21. First transmission belt; 22. Back plate; 23. Second driving structure; 231. Third driving motor; 232. Third transmission wheel; 233. Fourth transmission wheel; 24. First sliding structure; 241. Slide rail; 242. Sliding block; 25. Second sliding structure;

[0025] 3. First picking mechanism; 31. First lifting part; 311. Fixed frame; 312. First fixed plate; 313. First driving structure; 3131. First driving motor; 3132. First transmission wheel; 3133. Second transmission wheel; 3134. Second transmission belt; 32. First grasping part; 321. Positioning seat; 3211. Positioning block; 3212. Positioning plate; 322. Second driving motor; 323. Connecting plate; 324. Vacuum suction cup;

[0026] 4. Second picking mechanism; 41. Second lifting unit; 42. Second grabbing unit;

[0027] 51. Transmission wheel fixing plate; 52. Transmission shaft; 53. Bearing seat. DETAILED DESCRIPTION

[0028] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0029] In the description of the present invention, it should be noted that the orientations or positional relationships indicated by the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. Among them, the terms "first position" and "second position" are two different positions, and the first feature "above", "above" and "above" the second feature include the first feature being directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. The first feature "below", "below" and "below" the second feature include the first feature being directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0030] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0031] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0032] like Figures 1 to 5 As shown, this embodiment provides a chip picking device, which includes a support frame 1, a rotating mechanism 2, a first picking mechanism 3 and a second picking mechanism 4. The rotating mechanism 2 is arranged on the support frame 1, and the rotating mechanism 2 has a first transmission belt 21, which is rotatably arranged; the first picking mechanism 3 is arranged in a lifting manner on the lower half of the first transmission belt 21, and is slidably matched with the rotating mechanism 2; the second picking mechanism 4 is arranged in a lifting manner on the upper half of the first transmission belt 21, and is slidably matched with the rotating mechanism 2. The first transmission belt 21 includes but is not limited to a multi-V belt.

[0033] The chip picking device of the present invention is provided with a first picking mechanism 3 connected to the lower half of the first transmission belt 21, and a second picking mechanism 4 connected to the upper half of the first transmission belt 21. With such a configuration, the chips on the two channels of the chip conveying device can be picked up and transported at the same time, thereby improving the chip picking efficiency, and effectively solving the problem that the chip picking device in the prior art is difficult to pick up the dual-channel chip conveying device at the same time, resulting in low picking efficiency. At the same time, the first picking mechanism 3 is slidably matched with the rotating mechanism 2, and the second picking mechanism 4 is slidably matched with the rotating mechanism 2, so that the stability of the first picking mechanism 3 and the second picking mechanism 4 during operation can be ensured.

[0034] In some embodiments, Figure 1 As shown, the first picking mechanism 3 includes a first lifting part 31 and a first gripping part 32, and the second picking mechanism 4 includes a second lifting part 41 and a second gripping part 42. Among them, the first lifting part 31 is liftably arranged on the lower half of the first transmission belt 21, and the first gripping part 32 is rotatably arranged on the first lifting part 31, and the first gripping part 32 can pick up the chips on one channel of the chip conveying device, and the second lifting part 41 is liftably arranged on the upper half of the first transmission belt 21, and the second gripping part 42 is rotatably arranged on the second lifting part 41, and the second gripping part 42 can pick up the chips on another channel of the chip conveying device. In this way, the first transmission belt 21 can simultaneously drive the first lifting part 31 and the second lifting part 41 to move toward each other, and the first gripping part 32 and the second gripping part 42 are used to place the picked-up chips on the chip conveying device at the center of the component, so as to realize the dual-channel picking function and improve the picking efficiency of the chip picking device.

[0035] Furthermore, the first lifting part 31 includes a fixing frame 311, a first fixing plate 312 and a first driving structure 313. The fixing frame 311 is connected to the lower half of the first transmission belt 21 and is slidably matched with the rotating mechanism 2. The fixing frame 311 is provided to facilitate connection with the first fixing plate 312; at the same time, the first driving structure 313 is provided on the first fixing plate 312, so that the first grabbing part 32 can be driven to rise and fall by using the first driving structure 313.

[0036] In this embodiment, the first driving structure 313 includes a first driving motor 3131, a first transmission wheel 3132, a second transmission wheel 3133 and a second transmission belt 3134. The first transmission wheel 3132 and the second transmission wheel 3133 are arranged on the first fixed plate 312 at intervals in the vertical direction, so that the first grabbing portion 32 can move in the vertical direction, and the second transmission belt 3134 is installed on the first transmission wheel 3132 and the second transmission wheel 3133. The first driving motor 3131 is installed on the first fixed plate 312, and the output shaft of the first driving motor 3131 is connected to the first transmission wheel 3132 or the second transmission wheel 3133, so that the first driving motor 3131 can drive the first transmission wheel 3132 or the second transmission wheel 3133 to rotate, thereby driving the second transmission belt 3134 to rotate. The second transmission belt 3134 includes but is not limited to a multi-V belt. The first driving motor 3131 includes but is not limited to a stepping motor.

[0037] Optionally, both the first transmission wheel 3132 and the second transmission wheel 3133 have a transmission shaft 52 , and the output shaft of the first drive motor 3131 is connected to the transmission shaft 52 of the first transmission wheel 3132 or the transmission shaft 52 of the second transmission wheel 3133 .

[0038] Optionally, the first lifting portion 31 further includes a transmission wheel fixing plate, and the first transmission wheel 3132 and the second transmission wheel 3133 are both connected to the first fixing plate 312 via the transmission wheel fixing plate 51 .

[0039] Specifically, the first gripping part 32 includes a positioning seat 321, a second drive motor 322, a connecting plate 323 and a vacuum suction cup 324. The positioning seat 321 is connected to the second transmission belt 3134, the second drive motor 322 is installed on the positioning seat 321, the output shaft of the second drive motor 322 is connected to one side of the connecting plate 323, and the vacuum suction cup 324 is connected to the other side of the connecting plate 323. In this way, the second drive motor 322 can drive the connecting plate 323 to rotate, thereby driving the vacuum suction cup 324 to rotate. When the connecting plate 323 rotates ninety degrees, the connecting plate 323 is in the same direction as the first transmission belt 21, thereby expanding the adsorption range of the vacuum suction cup 324 to meet the pickup requirements of chips of different specifications.

[0040] Optionally, the first grabbing portion 32 further includes a bearing seat 53, and the bearing seat 53 is connected to the output shaft of the second drive motor 322 to ensure support and limitation of the output shaft of the second drive motor 322 when it rotates.

[0041] In this embodiment, there are multiple vacuum suction cups 324, and the multiple vacuum suction cups 324 are arranged at intervals on the other side of the connecting plate 323. The multiple vacuum suction cups 324 are divided into two groups, and the two groups of vacuum suction cups 324 are symmetrical about the center line of the connecting plate 323.

[0042] Among them, the vacuum suction cup 324 can generate negative pressure to absorb the chip. Compared with mechanical parts, it will not cause damage to the chip, and the picking height and force are controllable, thereby improving the picking accuracy of the chip picking device.

[0043] In some embodiments, the positioning seat 321 includes a positioning block 3211 and a positioning plate 3212 connected to each other. The positioning block 3211 is provided to facilitate connecting the positioning block 3211 and the second transmission belt 3134 , and the second driving motor 322 is installed on the positioning plate 3212 .

[0044] The second driving motor 322 includes but is not limited to a stepping motor.

[0045] It should be noted that the structure of the second lifting portion 41 is the same as that of the first lifting portion 31 . Similarly, the structure of the second grabbing portion 42 is the same as that of the first grabbing portion 32 .

[0046] Specifically, the rotating mechanism 2 includes a back plate 22, a second driving structure 23, a first sliding structure 24, and a second sliding structure 25. The back plate 22 is connected to the support frame 1, the second driving structure 23 is arranged on the back plate 22, and can drive the first transmission belt 21 to rotate, and the first sliding structure 24 and the second sliding structure 25 are both arranged on the back plate 22, the first sliding structure 24 and the first picking mechanism 3 are slidably matched, thereby improving the stability of the first picking mechanism 3 during movement, and the second sliding structure 25 and the second picking mechanism 4 are slidably matched, thereby improving the stability of the second picking mechanism 4 during movement.

[0047] Further, the second driving structure 23 includes a third driving motor 231, a third transmission wheel 232 and a fourth transmission wheel 233. The third transmission wheel 232 and the fourth transmission wheel 233 are arranged on the back plate 22 at intervals in the horizontal direction, and the first transmission belt 21 is installed on the third transmission wheel 232 and the fourth transmission wheel 233, so that the first transmission belt 21 can rotate in the horizontal direction; the third driving motor 231 is installed on the back plate 22, and the output shaft of the third driving motor 231 is connected to the third transmission wheel 232 or the fourth transmission wheel 233, so that the third driving motor 231 can drive the third transmission wheel 232 or the fourth transmission wheel 233 to rotate, so that the third transmission wheel 232 or the fourth transmission wheel 233 drives the first transmission belt 21 to rotate.

[0048] In some embodiments, the first sliding structure 24 includes a slide rail 241 and a slider 242. The slide rail 241 is disposed on the back plate 22 and extends in the horizontal direction, the slider 242 is disposed on the slide rail 241 and slides with the slide rail 241, and the slider 242 is connected to the first pickup mechanism 3. In this way, when the first pickup mechanism 3 moves, the slider 242 can also move with it, thereby ensuring the stability and reliability of the first pickup mechanism 3 when it moves.

[0049] The working process of the chip picking device of the present invention is as follows: first, the third driving motor 231 is turned on, and the third driving motor 231 drives the transmission shaft 52, the third transmission wheel 232 and the first transmission belt 21 to rotate. When the first transmission belt 21 rotates, the lower half of the first transmission belt 21 drives the fixed frame 311 and the first grabbing part 32 to move horizontally to the right, and the slide rail 241 and the slider 242 improve the movement stability of the fixed frame 311. The upper half of the first transmission belt 21 drives the second lifting part 41 and the second grabbing part 42 to move horizontally to the left, that is, the first grabbing part 32 and the second grabbing part 42 move toward each other, and the first grabbing part 32 and the second grabbing part 42 can hold the chip below. The chip on the conveying device is picked up to the conveying device at the center of the component, that is, a dual-channel picking function is realized, which improves the picking efficiency of the component. When the chip is conveyed to the bottom of the vacuum suction cup 324, the first driving motor 3131 drives the first transmission wheel 3132 and the second transmission belt 3134 to rotate. At this time, the second transmission belt 3134 drives the positioning block 3211 and the positioning plate 3212 to move downward quickly until the vacuum suction cup 324 contacts the chip. At this time, the vacuum suction cup 324 generates negative pressure, thereby adsorbing the chip. Compared with mechanical parts, it will not cause damage to the chip, and the picking height and force are controllable, thereby improving the picking accuracy of the chip picking device;

[0050] For semiconductor chips of different lengths, the placement of the connecting plate 323 can be adjusted, that is, the second driving motor 322 drives the connecting plate 323 and the vacuum suction cup 324 to rotate, that is, when the connecting plate 323 rotates ninety degrees, the connecting plate 323 is in the same direction as the first transmission belt 21, thereby expanding the adsorption range of the vacuum suction cup 324, meeting the picking requirements of chips of different specifications, and improving the working scope of the component.

[0051] Compared with the prior art, the beneficial effects of the present invention are: not only realizing the dual-channel picking function, improving the picking efficiency and picking accuracy, but also meeting the picking requirements of chips of different specifications and improving the working application scope of the component.

[0052] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A chip picking device, characterized in that: include: Support frame (1); A rotating mechanism (2) is arranged on the supporting frame (1), wherein the rotating mechanism (2) has a first transmission belt (21), and the first transmission belt (21) is rotatably arranged; A first picking mechanism (3) is movably disposed on the lower half of the first transmission belt (21) and is slidably matched with the rotating mechanism (2), and the first picking mechanism (3) is capable of picking up chips on a channel of the chip conveying device; The second picking mechanism (4) is movably arranged on the upper half of the first transmission belt (21) and is slidably matched with the rotating mechanism (2). The second picking mechanism (4) can pick up chips on another channel of the chip conveying device.

2. The chip pickup device according to claim 1, characterized in that: The first picking mechanism (3) comprises a first lifting part (31) and a first gripping part (32); the second picking mechanism (4) comprises a second lifting part (41) and a second gripping part (42); the first lifting part (31) is liftably arranged on the lower half of the first transmission belt (21); the first gripping part (32) is rotatably arranged on the first lifting part (31); the first gripping part (32) can pick up chips on one channel of the chip conveying device; the second lifting part (41) is liftably arranged on the upper half of the first transmission belt (21); the second gripping part (42) is rotatably arranged on the second lifting part (41); the second gripping part (42) can pick up chips on another channel of the chip conveying device.

3. The chip pickup device according to claim 2, characterized in that: The first lifting part (31) comprises a fixing frame (311), a first fixing plate (312) and a first driving structure (313); the fixing frame (311) is connected to the lower half of the first transmission belt (21) and is slidably matched with the rotating mechanism (2); the first fixing plate (312) is connected to the fixing frame (311); the first driving structure (313) is arranged on the first fixing plate (312) and is capable of driving the first grabbing part (32) to rise and fall.

4. The chip picking device according to claim 3, characterized in that: The first driving structure (313) comprises a first driving motor (3131), a first transmission wheel (3132), a second transmission wheel (3133) and a second transmission belt (3134); the first transmission wheel (3132) and the second transmission wheel (3133) are arranged on the first fixed plate (312) at intervals in the vertical direction; the second transmission belt (3134) is installed on the first transmission wheel (3132) and the second transmission wheel (3133); the first driving motor (3131) is installed on the first fixed plate (312); the output shaft of the first driving motor (3131) is connected to the first transmission wheel (3132) or the second transmission wheel (3133); and the first grabbing portion (32) is connected to the second transmission belt (3134).

5. The chip picking device according to claim 4, characterized in that: The first grasping portion (32) comprises a positioning seat (321), a second driving motor (322), a connecting plate (323) and a vacuum suction cup (324); the positioning seat (321) is connected to the second transmission belt (3134); the second driving motor (322) is installed on the positioning seat (321); the output shaft of the second driving motor (322) is connected to one side of the connecting plate (323); the vacuum suction cup (324) is connected to the other side of the connecting plate (323); and the second driving motor (322) drives the connecting plate (323) to rotate.

6. The chip picking device according to claim 5, characterized in that: There are a plurality of vacuum suction cups (324), and the plurality of vacuum suction cups (324) are arranged at intervals on the other side of the connecting plate (323).

7. The chip picking device according to claim 5, characterized in that: The positioning seat (321) comprises a positioning block (3211) and a positioning plate (3212) which are connected to each other, the positioning block (3211) is connected to the second transmission belt (3134), and the second drive motor (322) is mounted on the positioning plate (3212).

8. The chip pickup device according to any one of claims 1 to 7, characterized in that: The rotating mechanism (2) comprises a back plate (22), a second driving structure (23), a first sliding structure (24) and a second sliding structure (25); the back plate (22) is connected to the support frame (1); the second driving structure (23) is arranged on the back plate (22) and is capable of driving the first transmission belt (21) to rotate; the first sliding structure (24) and the second sliding structure (25) are both arranged on the back plate (22); the first sliding structure (24) and the first picking mechanism (3) are slidably matched; the second sliding structure (25) and the second picking mechanism (4) are slidably matched.

9. The chip picking device according to claim 8, characterized in that: The second driving structure (23) comprises a third driving motor (231), a third transmission wheel (232) and a fourth transmission wheel (233); the third transmission wheel (232) and the fourth transmission wheel (233) are arranged on the back plate (22) at intervals in the horizontal direction; the first transmission belt (21) is installed on the third transmission wheel (232) and the fourth transmission wheel (233); the third driving motor (231) is installed on the back plate (22); and the output shaft of the third driving motor (231) is connected to the third transmission wheel (232) or the fourth transmission wheel (233).

10. The chip picking device according to claim 8, characterized in that: The first sliding structure (24) comprises a slide rail (241) and a slider (242); the slide rail (241) is arranged on the back plate (22) and extends in a horizontal direction; the slider (242) is arranged on the slide rail (241) and slidably cooperates with the slide rail (241); the slider (242) is connected to the first picking mechanism (3).

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