Pick-up mechanism capable of rapidly replacing suction nozzle

Abstract

The invention relates to the technical field of suction nozzle assemblies, in particular to a pickup mechanism capable of quickly replacing suction nozzles, which comprises a rack and a butt joint mechanism, a mounting ring is rotationally arranged on the rack, at least two suction nozzles are arranged on the mounting ring, a rotation driving assembly used for driving the mounting ring to rotate is arranged on the rack, and a connecting pipe communicated with an air pump is further arranged on the rack; the rack is provided with a butt joint mechanism used for controlling communication of the connecting pipe and the suction nozzle. According to the invention, the function of quickly replacing the suction nozzle is realized. When small-batch and multi-type electric devices are transferred, the suction nozzles of the corresponding types can be rapidly replaced according to the types of the electric devices. The problem that different suction nozzles of a traditional device cannot be replaced according to the requirements of small-batch parts is solved. Compared with a traditional picking mechanism, the picking mechanism has the advantages that the corresponding suction nozzles are installed on the installation ring in advance, then the air pump and the suction nozzles are communicated through the butt joint mechanism, the air pump is made to be communicated with only one suction nozzle all the time in the working state, and then needed negative pressure can be stably provided.

Description

Technical Field

[0001] The invention relates to the technical field of suction nozzle assemblies, and in particular to a picking mechanism capable of quickly replacing suction nozzles. Background Art

[0002] During the assembly of the substrate, it is necessary to complete the transfer of various electrical components. The material surface of some connectors is not flat, and the surface of ordinary suction nozzles is flat. There are gaps in the suction process, and the vacuum suction force does not reach the standard value, so it is impossible to suck. It is necessary to replace the specified type of suction nozzle. However, manual replacement is inefficient and prone to errors, resulting in type mismatch, which requires re-replacement, resulting in long production change time.

[0003] To this end, the Chinese patent with the authorization announcement number CN114557150B discloses a nozzle management device, which solves the core problems of low nozzle replacement efficiency, difficult status tracking, chaotic storage and inconvenient disposal of discarded parts during the assembly of electronic components by integrating automated transfer, intelligent identification and modular storage technology, and realizes the rapid switching of nozzles in groups, accurate classification management and maintenance process automation. Its technical effects are remarkable: through the standardization of the changer and the intelligent sorting system, the production change time is greatly shortened; the dynamic storage strategy and garbage collection mechanism based on the nozzle status information improve the cleanliness and continuity of the production line; at the same time, it supports flexible adaptation of multiple models, reduces maintenance costs and improves assembly accuracy, and comprehensively optimizes the intelligence and reliability of the electronic manufacturing process.

[0004] Existing nozzle management devices have significant limitations when dealing with small-batch, high-frequency dynamic production needs. Although the entire set of changers demonstrates high efficiency advantages in large-scale production of a single model, in mixed-line production scenarios where nozzle types need to be frequently switched, its system architecture exposes three core problems: First, the mechanical structure design lacks redundancy. When only 1-2 special nozzles need to be replaced, the operator still needs to disassemble the entire changer module carrying 20-30 nozzles from the equipment body and transport it to the storage area via a trolley for disassembly operations. This "full disassembly-screening-reassembly" process causes the replacement time of a single nozzle to be extended from a theoretical 15 seconds to 5-8 minutes in actual operation, with an efficiency reduction of 32 times. In addition, a trolley is required to transport the changer during the replacement process, which increases the complexity of the process and makes it difficult to quickly respond to the dynamic needs of small batches of parts. Summary of the invention

[0005] In view of the above problems, a picking mechanism with quickly replaceable suction nozzles is provided. The problem that traditional devices cannot replace different suction nozzles according to the needs of small batches of parts is solved through a mounting ring, a rotating drive assembly, a connecting tube and a docking mechanism.

[0006] In order to solve the problems of the prior art, the present invention provides a picking mechanism for quickly replacing suction nozzles, including a frame and a docking mechanism; a mounting ring is rotatably arranged on the frame, at least two suction nozzles are arranged on the mounting ring, a rotating drive assembly for driving the mounting ring to rotate is arranged on the frame, and a connecting pipe connected to an air pump is also arranged on the frame; a docking mechanism is arranged on the frame for controlling the connection between the connecting pipe and the suction nozzle.

[0007] Preferably, the suction nozzle is connected to a docking seat, a first elastic member is provided on the docking seat, and both ends of the first elastic member are respectively connected to the frame and the docking seat; the docking mechanism includes a connecting seat and a linear drive assembly for driving the connecting seat to rise and fall, and a connecting pipe is arranged on the connecting seat, and when the connecting seat is docked with the docking seat, the connecting pipe is connected to the suction nozzle.

[0008] Preferably, a clamping mechanism is provided on the frame, and the clamping mechanism includes a mounting frame, a second elastic member, a limiting assembly and a control assembly; the mounting frame is arranged on the mounting ring, and a pressure plate is provided on the mounting frame; the second elastic member is arranged on the mounting frame, and the second elastic member is connected to the pressure plate; the limiting assembly is used to limit the lifting and lowering of the pressure plate, and the control assembly is used to release the lifting and lowering restriction of the pressure plate by the limiting assembly.

[0009] Preferably, the limiting assembly includes a mounting seat, a clamping block and a third elastic member; the mounting seat is arranged on the mounting frame; the clamping block is movably arranged on the mounting seat, and a clamping groove cooperating with the clamping block is opened on the pressure plate; the two ends of the third elastic member are respectively connected to the clamping block and the mounting seat.

[0010] Preferably, the control assembly includes an insertion rod, a fixed shaft and a lever; the insertion rod is slidably arranged on the mounting frame, and the clamping block is provided with an oblique groove that cooperates with the insertion rod; the fixed shaft is arranged on the mounting frame, and the lever is rotatably arranged on the fixed shaft, and when the lever contacts the insertion rod during rotation, it pushes the insertion rod; a transmission assembly is provided on the mounting frame, and the lever is transmission-connected to the docking seat through the transmission assembly.

[0011] Preferably, the transmission assembly includes a sliding rod, a rack and a first rotating gear; the sliding rod is slidably arranged on the mounting frame; two racks are provided, and the two racks are respectively connected to the sliding rod and the docking seat; the first rotating gear is rotatably arranged on the mounting frame, and the two racks are both transmission-connected to the first rotating gear.

[0012] Preferably, the rotary drive assembly includes a rotary driver, a second rotary gear and a gear ring; the rotary driver is arranged on the frame; the second rotary gear is sleeved on the drive shaft of the rotary driver; the gear ring is sleeved on the mounting ring, and the second rotary gear is meshingly connected with the gear ring.

[0013] Preferably, a sealing ring is provided on one side of the connecting seat close to the docking seat.

[0014] Preferably, a branch pipe extending radially along the mounting ring is provided on the connecting pipe; and an avoidance groove for misalignment with the connecting pipe is provided on the pressing plate.

[0015] Preferably, an identification code corresponding to each suction nozzle is provided on the mounting ring; an extension plate is provided on the connecting seat, and a visual sensor for identifying the identification code is provided on the extension plate.

[0016] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention realizes the function of quickly replacing suction nozzles through the mounting ring, the rotary drive assembly, the connecting tube and the docking mechanism. When transporting small batches of multiple types of electrical components, the corresponding type of suction nozzle can be quickly replaced according to the type of electrical components. It is adapted to high-frequency replacement and efficient production scenarios, and solves the problem that traditional devices cannot replace different suction nozzles according to the needs of small batches of parts. Compared with the traditional picking mechanism, the present invention installs the corresponding suction nozzle on the mounting ring in advance, and then connects the air pump and the suction nozzle through the docking mechanism, so that the air pump is always connected to only one suction nozzle in the working state, thereby being able to stably provide the required negative pressure. And by connecting the suction nozzle and the connecting tube through the docking mechanism, even if leakage occurs, it is convenient for the operator to perform maintenance and replacement, thereby reducing the use cost of the mechanism.

[0017] 2. The present invention realizes the function of connecting the connecting tube and the suction nozzle through the docking seat, the connecting seat and the linear drive assembly, and the connection between the suction nozzle and the connecting tube is maintained by the docking of the connecting seat and the docking seat. After the connecting seat and the docking seat are docked, the pressure is transmitted to the first elastic member, the first elastic member contracts, and the elastic force provided by the first elastic member acts as a pre-tightening force, which can further maintain the tight fit between the docking seat and the connecting seat, and avoid the loose fit between the docking seat and the connecting seat during the picking process.

[0018] 3. The present invention realizes the function of pressing the connecting seat onto the docking seat during the process of adsorbing the electrical device through the pressing plate, the second elastic member, the limiting component and the control component. Even if there is a power outage during the adsorption process, the abutment between the connecting seat and the docking seat can be maintained, and the negative pressure state can be maintained to prevent the suction nozzle from losing the negative pressure and causing the electrical device to fall. Since the existing air pump usually has a vacuum holding valve or a check valve, during the adsorption process, even if there is a power outage, the suction nozzle will not cause the electrical device to fall due to the loss of negative pressure. However, in order to improve the transmission efficiency, the electric push rod usually uses a ball screw as a transmission part, and the ball screw does not have a self-locking ability. Once the docking seat moves up under the elastic force of the first elastic member, it will push the connecting seat to move, which will cause the connection seat and the docking seat to be loosely combined, resulting in leakage. After the suction nozzle loses the negative pressure, the electrical device falls from the suction nozzle. For this reason, a clamping mechanism is provided for pressing the connecting seat onto the docking seat. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a three-dimensional schematic diagram of a picking mechanism capable of quickly replacing a suction nozzle on a workbench according to the present invention.

[0020] Figure 2 It is a three-dimensional schematic diagram of a picking mechanism capable of quickly replacing a suction nozzle according to the present invention.

[0021] Figure 3 It is a three-dimensional schematic diagram of the internal structure of a frame of a picking mechanism capable of quickly replacing a suction nozzle according to the present invention.

[0022] Figure 4 It is a three-dimensional exploded schematic diagram of a docking seat and a connecting seat in a picking mechanism capable of quickly replacing a suction nozzle of the present invention.

[0023] Figure 5 It is a three-dimensional schematic diagram of a linear drive component in a picking mechanism capable of quickly replacing a suction nozzle of the present invention driving a docking seat and a connecting seat to dock.

[0024] Figure 6 It is a three-dimensional schematic diagram of a single group of suction nozzles and a pressing mechanism in a picking mechanism capable of quickly replacing suction nozzles of the present invention.

[0025] Figure 7 The present invention is a three-dimensional exploded schematic diagram of a pressure plate, a limiting component and a control component in a picking mechanism capable of quickly replacing a suction nozzle.

[0026] Figure 8 It is a three-dimensional schematic diagram of the cooperation between a control component and a transmission component in a picking mechanism capable of quickly replacing a suction nozzle according to the present invention.

[0027] Fig. 9 It is a three-dimensional schematic diagram of a transmission assembly and a docking seat in a picking mechanism capable of quickly replacing a suction nozzle according to the present invention after the docking seat is pressed down.

[0028] Fig.10 It is a three-dimensional schematic diagram of the cooperation between a mounting ring and a rotating drive assembly in a picking mechanism capable of quickly replacing a suction nozzle according to the present invention.

[0029] The numbers in the figure are: 1, frame; 11, mounting ring; 111, nozzle; 112, docking seat; 1121, first elastic member; 1122, docking groove; 113, identification code; 12, rotation drive assembly; 121, rotation drive; 122, second rotation gear; 123, gear ring; 13, connecting pipe; 2, docking mechanism; 21, connecting seat; 211, sealing ring; 212, extension plate; 2121, visual sensor; 22, linear drive assembly; 221, linear drive; 22 2. Connecting frame; 3. Clamping mechanism; 31. Mounting frame; 311. Pressing plate; 3111. Slot; 3112. Avoiding groove; 32. Second elastic member; 33. Limiting assembly; 331. Mounting seat; 332. Block; 333. Third elastic member; 34. Control assembly; 341. Insert rod; 342. Fixed shaft; 343. Push rod; 35. Transmission assembly; 351. Sliding rod; 352. Rack; 353. First rotating gear; 354. Support; 3541. Rotating shaft; 4. Workbench. DETAILED DESCRIPTION

[0030] In order to further understand the features, technical means, specific objectives and functions of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0031] Reference Figure 1-Figure 4 : A picking mechanism with quickly replaceable suction nozzles, comprising a frame 1 and a docking mechanism 2; a mounting ring 11 is rotatably provided on the frame 1, at least two suction nozzles 111 are provided on the mounting ring 11, a rotating driving assembly 12 for driving the mounting ring 11 to rotate is provided on the frame 1, and a connecting pipe 13 connected to an air pump is also provided on the frame 1; a docking mechanism 2 for controlling the connection between the connecting pipe 13 and the suction nozzle 111 is provided on the frame 1.

[0032] The present invention realizes the function of quickly replacing the suction nozzle 111 through the mounting ring 11, the rotary drive assembly 12, the connecting tube 13 and the docking mechanism 2. When transporting small batches of multiple types of electrical components, the corresponding type of suction nozzle 111 can be quickly replaced according to the type of electrical component. It is adapted to high-frequency replacement and efficient production scenarios, and solves the problem that traditional devices cannot replace different suction nozzles 111 according to the needs of small batches of parts. The air pump is a mature existing technology and is not shown in the figure. A controller for human-computer interaction is provided on the frame 1, and the rotary drive assembly 12 is electrically connected to the controller. A plurality of suction nozzles 111 are distributed in a circular array about the axis of the mounting ring 11, and the frame 1 is provided with an adsorption station, and the electrical components located on the workbench 4 are picked up by a picking mechanism. When changing production, the operator sends a signal to the rotating drive assembly 12 through the controller. After receiving the signal, the rotating drive assembly 12 drives the mounting ring 11 to rotate, and the mounting ring 11 drives the suction nozzle 111 located thereon to rotate. After the corresponding type of suction nozzle 111 is rotated to the adsorption station, the suction nozzle 111 and the connecting pipe 13 are connected through the docking mechanism 2, and then the suction nozzle 111 is provided with negative pressure through the air pump and the connecting pipe 13, and the electrical device is adsorbed through the suction nozzle 111. Compared with the traditional picking mechanism, the present invention installs the corresponding suction nozzle 111 on the mounting ring 11 in advance, and then connects the air pump and the suction nozzle 111 through the docking mechanism 2, so that the air pump is always connected to only one suction nozzle 111 in the working state, and thus can stably provide the required negative pressure. And by connecting the suction nozzle 111 and the connecting pipe 13 through the docking mechanism 2, even if leakage occurs, it is convenient for the operator to perform maintenance and replacement, reducing the use cost of the mechanism.

[0033] Reference Figure 2 , Figure 4 and Figure 5 : The suction nozzle 111 is connected to the docking seat 112, and the docking seat 112 is provided with a first elastic member 1121, and the two ends of the first elastic member 1121 are respectively connected to the frame 1 and the docking seat 112; the docking mechanism 2 includes a connecting seat 21 and a linear drive component 22 for driving the connecting seat 21 to rise and fall, and the connecting pipe 13 is arranged on the connecting seat 21. When the connecting seat 21 is docked with the docking seat 112, the connecting pipe 13 is connected to the suction nozzle 111.

[0034] The present invention realizes the function of connecting the connecting tube 13 and the suction nozzle 111 through the docking seat 112, the connecting seat 21 and the linear drive assembly 22, and maintains the connection between the suction nozzle 111 and the connecting tube 13 through the docking of the connecting seat 21 and the docking seat 112. And after the connecting seat 21 and the docking seat 112 are docked, the pressure is transmitted to the first elastic member 1121, and the first elastic member 1121 contracts. The elastic force provided by the first elastic member 1121 acts as a pre-tightening force, which can further maintain the tight fit between the docking seat 112 and the connecting seat 21, and avoid the loose fit between the docking seat 112 and the connecting seat 21 during the picking process. The docking seat 112 is provided with a docking groove 1122 for docking with the connecting seat 21. The linear drive assembly 22 includes a linear driver 221 and a connecting frame 222. The linear driver 221 is arranged on the frame 1, and the driving end of the linear driver 221 is connected to the connecting seat 21 through the connecting frame 222. The linear drive 221 is preferably a micro electric push rod, and the linear drive 221 is electrically connected to the controller. In the working state, the operator drives the mounting ring 11 to rotate by rotating the drive assembly 12, and rotates the designated suction nozzle 111 to the adsorption station. Then the linear drive 221 drives the connecting frame 222 to move downward, and the connecting frame 222 drives the connecting seat 21 to move, and the connecting seat 21 is docked with the docking seat 112 and pushes the docking seat 112 to move downward synchronously. The first elastic member 1121 contracts under the pressure, and the docking seat 112 and the suction nozzle 111 move downward under the pressure, so as to facilitate the operator to control the suction nozzle 111 to dock with the electrical device and adsorb the electrical device. During the adsorption process, the connecting seat 21 always presses the docking seat 112, and the connecting seat 21 will be subjected to the reaction force provided by the first elastic member 1121, maintaining the docking state between the connecting seat 21 and the docking seat 112, providing sealing, and avoiding leakage at the abutment.

[0035] Reference Figure 2 , Figure 5 and Figure 6 : A clamping mechanism 3 is provided on the frame 1, and the clamping mechanism 3 includes a mounting frame 31, a second elastic member 32, a limiting assembly 33 and a control assembly 34; the mounting frame 31 is arranged on the mounting ring 11, and a pressing plate 311 is provided on the mounting frame 31; the second elastic member 32 is arranged on the mounting frame 31, and the second elastic member 32 is connected to the pressing plate 311; the limiting assembly 33 is used to limit the lifting and lowering of the pressing plate 311, and the control assembly 34 is used to release the lifting and lowering restriction of the limiting assembly 33 on the pressing plate 311.

[0036] The present invention realizes the function of pressing the connection seat 21 onto the docking seat 112 during the process of adsorbing the electrical device through the pressing plate 311, the second elastic member 32, the limiting component 33 and the control component 34. Even if a power outage occurs during the adsorption process, the connection seat 21 and the docking seat 112 can be kept in contact, and a negative pressure state can be maintained to prevent the suction nozzle 111 from causing the electrical device to fall due to the loss of negative pressure. Since the existing air pump usually has a vacuum holding valve or a check valve, during the adsorption process, even if a power outage occurs, the suction nozzle 111 will not cause the electrical device to fall due to the loss of negative pressure. However, in order to improve the transmission efficiency, the electric push rod usually uses a ball screw as a transmission part, but the ball screw does not have a self-locking ability. Once the docking seat 112 moves up under the elastic force of the first elastic member 1121, it will push the connecting seat 21 to move, which will cause the connection between the connecting seat 21 and the docking seat 112 to be loose, resulting in leakage. After the suction nozzle 111 loses the negative pressure, the electrical component falls off the suction nozzle 111. For this purpose, a clamping mechanism 3 is provided for clamping the connecting seat 21 to the docking seat 112. The second elastic member 32 is a nitrogen spring, and the piston rod of the second elastic member 32 is connected to the pressing plate 311. After the linear drive 221 drives the connection seat 21 to move downward and dock with the docking seat 112, the control component 34 releases the movement restriction of the pressure plate 311 by the restriction component 33, and the pressure plate 311 moves downward under the elastic force of the second elastic member 32. After the pressure plate 311 contacts the connection seat 21, it provides downward pressure to the connection seat 21, thereby pressing the connection seat 21 tightly against the docking seat 112. And because the downward pressure is provided by the second elastic member 32, it will not disappear even when the power is off, and the connection seat 21 and the docking seat 112 will still be closely matched to avoid leakage.

[0037] Reference Figure 6 and Figure 7 : The limiting component 33 includes a mounting seat 331, a clamping block 332 and a third elastic member 333; the mounting seat 331 is arranged on the mounting frame 31; the clamping block 332 is movably arranged on the mounting seat 331, and a clamping groove 3111 cooperating with the clamping block 332 is opened on the pressure plate 311; the two ends of the third elastic member 333 are respectively connected to the clamping block 332 and the mounting seat 331.

[0038] The present invention realizes the function of limiting the downward movement of the pressing plate 311 through the mounting seat 331, the block 332 and the third elastic member 333. When the pressing plate 311 is in the reset state, the second elastic member 32 is in the contracted state, at which time the block 332 is aligned with the card slot 3111, and the block 332 is plugged and matched with the block 332 under the elastic force of the third elastic member 333. In addition, the movement of the pressing plate 311 is limited. Only when the docking seat 112 on the suction nozzle 111 at the adsorption station moves downward after abutting against the connecting seat 21, the control component 34 releases the lifting and lowering restriction of the pressing plate 311 by the limiting component 33, and the pressing plate 311 moves downward under the elastic force of the second elastic member 32. After the pressing plate 311 contacts the connecting seat 21, it provides downward pressure to the connecting seat 21 to keep the connecting seat 21 in the downward pressure state. Only when the linear drive assembly 22 drives the connection seat 21 to move upward, the connection seat 21 provides an upward thrust to the pressure plate 311, pushing the pressure plate 311 upward, until the pressure plate 311 is reset, and the movement of the pressure plate 311 is restricted again by the restriction assembly 33. Then the linear drive assembly 22 drives the connection seat 21 to move downward for a distance, so that the connection seat 21 is separated from the pressure plate 311, and the reset action of the connection seat 21 is completed.

[0039] Reference Figure 6-Figure 8 : The control component 34 includes an insertion rod 341, a fixed shaft 342 and a lever 343; the insertion rod 341 is slidably set on the mounting frame 31, and the block 332 is provided with an oblique groove that cooperates with the insertion rod 341; the fixed shaft 342 is set on the mounting frame 31, and the lever 343 is rotatably set on the fixed shaft 342. When the lever 343 contacts the insertion rod 341 during the rotation process, it pushes the insertion rod 341; a transmission component 35 is provided on the mounting frame 31, and the lever 343 is transmission-connected to the docking seat 112 through the transmission component 35.

[0040] The present invention realizes the function of controlling the block 332 to separate from the slot 3111 through the insertion rod 341, the fixed shaft 342 and the lever 343. When the linear drive component 22 drives the connection seat 21 to move downward, the connection seat 21 drives the docking seat 112 to move synchronously after docking with the docking seat 112, and the docking seat 112 drives the lever 343 to rotate through the transmission component 35. After the lever 343 contacts the insertion rod 341, it pushes the insertion rod 341 downward, and the insertion rod 341 squeezes the inclined groove on the block 332, thereby pushing the block 332 to move away from the slot 3111, and the second elastic member 32 contracts. When the block 332 is separated from the slot 3111, the lifting and lowering restriction of the pressure plate 311 by the limiting component 33 is released. The pressure plate 311 moves downward under the elastic force of the second elastic member 32, and provides downward pressure on the connection seat 21. The docking state of the connection seat 21 and the docking seat 112 is maintained.

[0041] Reference Figure 6 , Figure 8 and Fig. 9: The transmission assembly 35 includes a slide bar 351, a rack 352 and a first rotating gear 353; the slide bar 351 is slidably set on the mounting frame 31; there are two racks 352, and the two racks 352 are respectively connected to the slide bar 351 and the docking seat 112; the first rotating gear 353 is rotatably set on the mounting frame 31, and the two racks 352 are both transmission-connected to the first rotating gear 353.

[0042] The present invention realizes the function of driving the lever 343 to move when the docking seat 112 moves through the slide bar 351, the rack 352 and the first rotating gear 353. The top of the slide bar 351 has a support rod for pushing the lever 343. There are two first rotating gears 353, and a support 354 is provided on the mounting frame 31. A rotating shaft 3541 is rotatably provided on the support 354. The two first rotating gears 353 are both sleeved on the first rotating shaft 3541. The two racks 352 are respectively meshed and connected with the two first rotating gears 353, so that the two racks 352 are transmission-connected. When the docking seat 112 moves downward, the rack 352 connected thereto is driven to move downward, and then the first rotating gear 353 and the first rotating shaft 3541 are driven to rotate through the rack 352, and then the rack 352 located on the slide bar 351 is driven to move upward through the meshing connection between the first rotating gear 353 and the rack 352. During the synchronous upward movement of the rack 352 and the slide bar 351, when the slide bar 351 contacts the lever 343, it pushes the lever 343 to rotate. During the rotation, the lever 343 contacts the insertion rod 341 and pushes the insertion rod 341 to move, and then the insertion rod 341 pushes the block 332 to move, so that the block 332 is separated from the slot 3111, thereby releasing the movement restriction of the pressure plate 311 by the limiting assembly 33.

[0043] Reference Figure 2 , Figure 3 and Fig.10 : The rotation drive assembly 12 includes a rotation driver 121, a second rotation gear 122 and a gear ring 123; the rotation driver 121 is arranged on the frame 1; the second rotation gear 122 is sleeved on the driving shaft of the rotation driver 121; the gear ring 123 is sleeved on the mounting ring 11, and the second rotation gear 122 is meshedly connected with the gear ring 123.

[0044] The present invention realizes the function of driving the mounting ring 11 to rotate through the rotary driver 121, the second rotary gear 122 and the gear ring 123. The inner ring of the mounting ring 11 is provided with a raised convex ring, and the gear ring 123 is sleeved on the convex ring. The second rotary gear 122 is arranged on the inner ring of the gear ring 123. The rotary driver 121 is preferably a servo motor, and the servo motor is electrically connected to the controller. In the working state, the operator sends a signal to the rotary driver 121 through the controller. After receiving the signal, the rotary driver 121 drives the second rotary gear 122 to rotate, and the second rotary gear 122 drives the gear ring 123 meshing with it to rotate, and then drives the mounting ring 11 to rotate through the gear ring 123. The rotation accuracy of the mounting ring 11 is improved by the reduction transmission of the second rotary gear 122 and the gear ring 123, so that the connecting seat 21 can be accurately docked with the docking seat 112.

[0045] Reference Figure 4 A sealing ring 211 is provided on one side of the connecting seat 21 close to the docking seat 112 .

[0046] The present invention improves the sealing performance of the contact surface between the connecting seat 21 and the docking seat 112 by means of the sealing ring 211 . The sealing ring 211 is preferably a fluororubber sealing ring. Based on the high bond energy characteristics of the fluorocarbon bonds in its molecular chain, it has the unique advantages of high temperature resistance, chemical corrosion resistance and low compression permanent deformation rate. In the process of the linear drive component 22 driving the connecting seat 21 to press the docking seat 112, the elastic material with a Shore hardness of 75±5 undergoes a controllable deformation of 0.3-0.5mm, which not only fills the ±0.1mm assembly gap caused by processing tolerance, but also maintains a rebound rate of more than 92% in 10^5 pressing cycles, effectively eliminating the micron-level gap caused by vacuum pipeline vibration or equipment thermal expansion. The surface friction coefficient of ≤0.35 simultaneously reduces the risk of sliding wear on the contact surface, so that the leakage rate of the system vacuum degree at a working pressure of 30kPa is reduced from 1.2L / min of a conventional silicone sealing ring to below 0.05L / min, significantly improving the adsorption stability of the suction nozzle 111 to miniaturized and special-shaped electrical components, and is particularly suitable for complex working conditions with local high temperature or chemical pollution during substrate assembly. When the linear drive assembly 22 drives the connecting seat 21 to move and presses the connecting seat 21 against the docking seat 112, the sealing ring 211 is deformed to improve the sealing of the contact surface between the connecting seat 21 and the docking seat 112, thereby avoiding leakage during the adsorption process and improving the adsorption stability of the suction nozzle 111 on the electrical device.

[0047] Reference Figure 4 and Figure 7 : The connecting pipe 13 is provided with a branch pipe extending radially along the mounting ring 11; the pressure plate 311 is provided with an avoidance groove 3112 for misalignment with the connecting pipe 13.

[0048] The present invention achieves the function of preventing the connection pipe 13 from colliding with the pressing plate 311 during the rotation of the mounting ring 11 through the branch pipe and the avoidance groove 3112. In order to ensure the docking stability of the connection seat 21 and the docking seat 112, a clamping mechanism 3 for pressing the connection seat 21 onto the docking seat 112 is provided above each suction nozzle 111. However, the mounting ring 11 will drive the suction nozzle 111 and the clamping mechanism 3 to rotate. For this reason, an avoidance groove 3112 is provided on the pressing plate 311, and a branch pipe for changing the connection direction of the connection pipe 13 is provided on the connecting pipe 13. In addition, the connecting pipe 13 will not collide with the clamping mechanism 3 during the rotation of the mounting ring 11. And the avoidance groove 3112 opened on the pressing plate 311 enables the pressing plate 311 to cross the connecting pipe 13 and abut against the connecting seat 21.

[0049] Reference Figure 3 and Figure 4 : An identification code 113 corresponding to the suction nozzle 111 is provided on the mounting ring 11; an extension plate 212 is provided on the connecting seat 21, and a visual sensor 2121 for identifying the identification code 113 is provided on the extension plate 212.

[0050] The present invention realizes the function of automatically identifying the type of the suction nozzle 111 through the identification code 113 and the visual sensor 2121. The identification code 113 is a laser code, and the visual sensor 2121 is preferably an industrial camera, and the industrial camera is electrically connected to the controller. During the processing, according to the type of electrical components, the controller sends a signal to the rotary driver 121, the rotary driver 121 drives the second rotary gear 122 to rotate, the second rotary gear 122 drives the gear ring 123 meshed with it to rotate, and the gear ring 123 drives the mounting ring 11 to rotate. When the visual sensor 2121 is docked with the corresponding identification code 113, it identifies the specified type of suction nozzle 111, and then stops the drive of the rotary driver 121. Then the docking seat 112 and the connecting seat 21 are docked, the suction nozzle 111 and the air pump are connected, and the adsorption work is performed.

[0051] The above embodiments only express one or several implementation modes of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the present invention. It should be pointed out that, for those of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the attached claims.

Claims

1. A picking mechanism capable of quickly replacing a suction nozzle, characterized in that: It comprises a frame (1) and a docking mechanism (2); A mounting ring (11) is rotatably provided on the frame (1), at least two suction nozzles (111) are provided on the mounting ring (11), a rotation drive assembly (12) for driving the mounting ring (11) to rotate is provided on the frame (1), and a connecting pipe (13) connected to an air pump is also provided on the frame (1); The frame (1) is provided with a docking mechanism (2) for controlling the connection between the connecting pipe (13) and the suction nozzle (111).

2. A picking mechanism capable of quickly replacing a suction nozzle according to claim 1, characterized in that: The suction nozzle (111) is connected to a docking seat (112), a first elastic member (1121) is provided on the docking seat (112), and two ends of the first elastic member (1121) are respectively connected to the frame (1) and the docking seat (112); The docking mechanism (2) comprises a connecting seat (21) and a linear drive assembly (22) for driving the connecting seat (21) to rise and fall. The connecting pipe (13) is arranged on the connecting seat (21). When the connecting seat (21) is docked with the docking seat (112), the connecting pipe (13) is connected to the suction nozzle (111).

3. A picking mechanism capable of quickly replacing a suction nozzle according to claim 2, characterized in that: A clamping mechanism (3) is provided on the frame (1), and the clamping mechanism (3) comprises a mounting frame (31), a second elastic member (32), a limiting component (33) and a control component (34); The mounting frame (31) is arranged on the mounting ring (11), and a pressing plate (311) is provided on the mounting frame (31); The second elastic member (32) is arranged on the mounting frame (31), and the second elastic member (32) is connected to the pressing plate (311); The limiting component (33) is used to limit the lifting and lowering of the pressing plate (311), and the control component (34) is used to release the lifting and lowering restriction of the pressing plate (311) by the limiting component (33).

4. A picking mechanism capable of quickly replacing a suction nozzle according to claim 3, characterized in that: The limiting component (33) comprises a mounting seat (331), a clamping block (332) and a third elastic member (333); The mounting seat (331) is arranged on the mounting frame (31); The clamping block (332) is movably arranged on the mounting seat (331), and a clamping slot (3111) cooperating with the clamping block (332) is provided on the pressing plate (311); Two ends of the third elastic member (333) are respectively connected to the clamping block (332) and the mounting seat (331).

5. A picking mechanism capable of quickly replacing a suction nozzle according to claim 4, characterized in that: The control assembly (34) comprises an insertion rod (341), a fixed shaft (342) and a lever (343); The insertion rod (341) is slidably arranged on the mounting frame (31), and the clamping block (332) is provided with an oblique groove that matches the insertion rod (341); The fixed shaft (342) is disposed on the mounting frame (31), and the lever (343) is rotatably disposed on the fixed shaft (342), and when the lever (343) contacts the insertion rod (341) during the rotation process, the insertion rod (341) is pushed; A transmission assembly (35) is provided on the mounting frame (31), and the shifting rod (343) is transmission-connected to the docking seat (112) via the transmission assembly (35).

6. A picking mechanism capable of quickly replacing a suction nozzle according to claim 5, characterized in that: The transmission assembly (35) comprises a sliding rod (351), a rack (352) and a first rotating gear (353); The slide bar (351) is slidably disposed on the mounting frame (31); Two racks (352) are provided, and the two racks (352) are respectively connected to the slide bar (351) and the docking seat (112); The first rotating gear (353) is rotatably mounted on the mounting frame (31), and the two racks (352) are both in transmission connection with the first rotating gear (353).

7. A picking mechanism capable of quickly replacing a suction nozzle according to claim 1, characterized in that: The rotary drive assembly (12) comprises a rotary drive (121), a second rotary gear (122) and a gear ring (123); The rotary driver (121) is arranged on the frame (1); The second rotating gear (122) is sleeved on the driving shaft of the rotating driver (121); The gear ring (123) is sleeved on the mounting ring (11), and the second rotating gear (122) is meshingly connected with the gear ring (123).

8. The picking mechanism with a quick-change nozzle according to claim 2, characterized in that: A sealing ring (211) is provided on one side of the connecting seat (21) close to the docking seat (112).

9. The picking mechanism with a quick-change nozzle according to claim 3, characterized in that: The connecting pipe (13) is provided with a branch pipe extending in the radial direction of the mounting ring (11); The pressing plate (311) is provided with an avoidance groove (3112) for misalignment with the connecting pipe (13).

10. The picking mechanism with a quick-change nozzle according to claim 2, characterized in that: An identification code (113) corresponding one-to-one to the suction nozzle (111) is provided on the mounting ring (11); An extension plate (212) is provided on the connection seat (21), and a visual sensor (2121) for identifying the identification code (113) is provided on the extension plate (212).

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