Spacing-adjustable multi-head suction nozzle mechanism

Abstract

The invention relates to the field of chip assembly, in particular to a spacing-adjustable multi-head suction nozzle mechanism which comprises a rack, and at least two suction nozzles are arranged on the rack; a bearing device is arranged on the rack and comprises a telescopic rod and a supporting rod hinged to the telescopic rod, and a bearing plate is arranged at the end, away from the telescopic rod, of the supporting rod; the rack is provided with an air pressure driving device used for driving the telescopic rod and the supporting rod, and the air pressure driving device communicates with an air pump. When the suction nozzle sucks the workpiece, the pneumatic driving device controls the supporting rod to rotate from the horizontal state to the vertical state, and the pneumatic driving device drives the telescopic rod to contract until the supporting rod clamps the workpiece. According to the suction nozzle, the function of supporting the workpiece through the bearing plate after the workpiece is adsorbed is achieved, the situation that butt joint of the suction nozzle and the workpiece is affected by the supporting rod and the bearing plate is avoided, then the workpiece is stably transferred, meanwhile, the adsorption accuracy of the suction nozzle is improved, and the problem that butt joint of the suction nozzle and the workpiece is affected in order to support the workpiece through a traditional suction nozzle is solved.

Description

Technical Field

[0001] The invention relates to the field of chip assembly, and in particular to a multi-head suction nozzle mechanism with adjustable spacing. Background Art

[0002] During chip assembly, vacuum suction cups are usually used to transfer chips. However, the existing multi-nozzle mechanism can only transfer a small number of concentrated chips. Limited by the suction position of the vacuum suction cup, it cannot adapt to other types of chips of different volumes, resulting in poor adaptability of the suction nozzle, which affects the chip assembly efficiency. Configuring multiple sets of suction nozzles is time-consuming and labor-intensive, and leads to a significant increase in costs.

[0003] To this end, the Chinese patent with the authorization announcement number CN112420589B discloses a multi-head suction nozzle mechanism for chip assembly loading and unloading machines, which uses two rows of 6 suction nozzles in front and back, and the suction nozzle adjustment plate adopts a waist-shaped hole adjustment method, which can easily adjust the left and right spacing of the suction nozzles. At the same time, the waist-shaped hole can realize the suction nozzle mounting block to rotate 360 ​​degrees in it, so that the front and rear spacing of the suction nozzles can be easily adjusted. The staff can increase or decrease the number of suction nozzles and adjust the spacing of the suction nozzles according to the specifications of the chips to be transported, so that this mechanism can achieve successful chip absorption every time, with strong compatibility and high reliability, greatly improving the production efficiency of the entire equipment. A clamping claw mechanism is added under the suction nozzle to support the bottom of the chip after the chip is absorbed, thereby avoiding the risk of chip falling off due to other uncertain factors during transportation, and providing a guarantee for the overall stability of the equipment.

[0004] In order to ensure that the clamp can stably hold the chip, the height of the clamp needs to be lower than the nozzle. However, when the chip is being adsorbed, once the clamp contacts the chip, it will hinder the nozzle from moving down, causing the nozzle to be unable to adsorb the chip smoothly, affecting the chip transfer work. Summary of the invention

[0005] In view of the above problems, a multi-head suction nozzle mechanism with adjustable spacing is provided, which solves the problem that the traditional suction nozzle is affected by the connection between the suction nozzle and the workpiece in order to support the workpiece through a frame, a supporting device and a pneumatic drive device.

[0006] In order to solve the problems of the prior art, the present invention provides a multi-head suction nozzle mechanism with adjustable spacing, comprising a frame, at least two suction nozzles are provided on the frame, and an air pump connected to the suction nozzles is provided on the frame; a supporting device is provided on the frame, the supporting device comprises a telescopic rod and a support rod hinged to the telescopic rod, and a supporting plate is provided at one end of the support rod away from the telescopic rod; a pneumatic driving device for driving the telescopic rod and the support rod is provided on the frame, and the pneumatic driving device is connected to the air pump; when the suction nozzle adsorbs the workpiece, the pneumatic driving device controls the support rod to rotate from a horizontal state to a vertical state, and the pneumatic driving device drives the telescopic rod to contract until the support rod clamps the workpiece.

[0007] Preferably, the pneumatic drive device includes a first pressure chamber with an opening on one side connected to the air pump and a second pressure chamber; the first pressure chamber is arranged on the frame, and a first piston is slidably arranged in the first pressure chamber, and the first piston is connected to the telescopic rod; the second pressure chamber is hinged to the telescopic rod, and a second piston is slidably arranged in the second pressure chamber, and a first connecting rod is provided on the second piston, and the first connecting rod is hinged to the support rod.

[0008] Preferably, an auxiliary control mechanism is provided on the frame, which includes a locking assembly for limiting the contraction of the telescopic rod and a control assembly for releasing the contraction restriction of the telescopic rod by the locking assembly; when the support rod rotates from a horizontal state to a vertical state, the control assembly releases the contraction restriction of the telescopic rod by the locking assembly.

[0009] Preferably, the locking assembly includes a locking block and a first elastic member; the locking block is slidably set on the frame, and a slot matching the locking block is opened on the telescopic rod. When the locking block is plugged into the slot, the telescopic rod is limited from contracting; the two ends of the first elastic member are respectively connected to the locking block and the frame.

[0010] Preferably, the control assembly includes a first movable rod and a vertical plate; the first movable rod is slidably arranged on the telescopic rod; the vertical plate is connected to the first movable rod, and when the support rod is rotated to a vertical state, the vertical plate is squeezed and the first movable rod is pushed into the slot.

[0011] Preferably, the pneumatic drive device includes a push rod movably arranged on a frame and a linear drive assembly for driving the push rod to move; the linear drive assembly is arranged on the frame, and a first fixed shaft is provided on the support rod. When the linear drive assembly drives the push rod to extend, the push rod pushes the first fixed shaft when it contacts the first fixed shaft.

[0012] Preferably, the linear drive assembly includes a third air pressure chamber, a third piston and a second connecting rod; the third air pressure chamber is arranged on the frame, the third piston is slidably arranged in the third air pressure chamber, the third piston separates the first cavity and the second cavity in the third air pressure chamber, the first cavity is filled with air, and the second cavity is connected to the air pump; the two ends of the second connecting rod are respectively connected to the third piston and the push rod, and the second connecting rod passes through the first cavity.

[0013] Preferably, the supporting device includes a limiting component and a sensing component; the limiting component is used to limit the rotation of the support rod; the sensing component is used to sense the contact between the support rod and the workpiece; when the support rod clamps the workpiece, the limiting component limits the rotation of the support rod.

[0014] Preferably, the limiting component includes a second fixed shaft, a second movable rod and a second elastic member; the second fixed shaft is arranged on the telescopic rod, and the support rod is rotatably connected to the second fixed shaft; the second movable rod is slidably arranged on the support rod, and the second movable rod is transmission-connected to the sensing component; the two ends of the second elastic member are respectively connected to the second movable rod and the support rod.

[0015] Preferably, the sensing component includes a sensing plate and a third elastic member; the sensing plate is movably arranged on the support rod, and a wedge block abutting against the second movable rod is provided on the sensing plate; two ends of the third elastic member are respectively connected to the sensing plate and the support rod.

[0016] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention realizes the function of supporting the workpiece by the supporting plate after the workpiece is adsorbed through the frame, the supporting device and the pneumatic driving device, and the driving control of the pneumatic driving device can achieve the effect of controlling the support rod to move to the supporting position only after the workpiece is adsorbed, thereby avoiding the support rod and the supporting plate from affecting the docking between the suction nozzle and the workpiece, thereby improving the suction accuracy of the suction nozzle while stabilizing the transfer of the workpiece, and solving the problem that the traditional suction nozzle is affected by the docking between the suction nozzle and the workpiece in order to support the workpiece.

[0017] 2. The present invention realizes the function of driving the telescopic rod and the support rod by the air pressure provided by the air pump through the first and second air pressure chambers, so as to achieve the effect of automatically starting the air pressure driving device after adsorbing the workpiece. At the same time, it also avoids the situation that the support rod is driven to rotate before the workpiece is adsorbed, causing the support rod to affect the docking of the suction nozzle and the workpiece. After the suction nozzle and the workpiece are docked, the air pump generates negative pressure, and the suction nozzle adsorbs the workpiece under the action of air pressure. At the same time, the inner cavity in the second air pressure chamber connected to the air pump is negative pressure, and the side of the second piston close to the second connecting rod is set as an opening, so that the second piston is affected by atmospheric pressure. Under the action of the air pressure difference at both ends, the second piston drives the first connecting rod to contract under the push of air pressure, and then pulls the support rod to rotate through the first connecting rod until the first connecting rod contracts to the limit position, and the support rod rotates from a horizontal state to a vertical state. The two ends of the first piston in the first air pressure chamber are also affected by air pressure. The first piston drives the telescopic rod to contract under the action of air pressure, and the telescopic rod drives the support rod to move, so that the support rod can abut against the workpiece, and the support plate at the bottom of the support rod provides a support effect for the workpiece.

[0018] 3. The present invention realizes the function of controlling the movement sequence of the telescopic rod and the support rod through the cooperation of the locking assembly and the control assembly. The telescopic rod is driven to retract only after the support rod rotates to a vertical state. This avoids the situation where the support rod abuts against the workpiece before rotating to a vertical state, causing the support plate to be unable to move to the bottom of the workpiece. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a three-dimensional schematic diagram of a multi-head suction nozzle mechanism with adjustable spacing according to the present invention.

[0020] Figure 2 It is a three-dimensional schematic diagram of the cooperation between some suction nozzles and a supporting device in a multi-head suction nozzle mechanism with adjustable spacing of the present invention.

[0021] Figure 3It is a three-dimensional schematic diagram of a single-side supporting device in a multi-head suction nozzle mechanism with adjustable spacing of the present invention when the support rod is in a vertical state.

[0022] Figure 4 It is a three-dimensional exploded schematic diagram of a single-side supporting device in a multi-head suction nozzle mechanism with adjustable spacing of the present invention.

[0023] Figure 5 The invention discloses a stereoscopic schematic diagram of a telescopic rod and an auxiliary control mechanism in a multi-head suction nozzle mechanism with adjustable spacing.

[0024] Figure 6 The present invention is a three-dimensional exploded schematic diagram of a telescopic rod and an auxiliary control mechanism in a multi-head suction nozzle mechanism with adjustable spacing.

[0025] Figure 7 It is a three-dimensional schematic diagram of a multi-head suction nozzle mechanism with adjustable spacing in a working state of the present invention.

[0026] Figure 8 It is a three-dimensional schematic diagram of a support rod, a limiting component and a sensing component in a clamped state in a multi-head suction nozzle mechanism with adjustable spacing of the present invention.

[0027] Fig. 9 The present invention Figure 8 A local enlarged schematic diagram of point A in the middle.

[0028] Fig.10 The present invention is a three-dimensional schematic diagram of a support rod, a limiting component and a sensing component in a reset state in a multi-head suction nozzle mechanism with adjustable spacing.

[0029] The numbers in the figure are: 1, frame; 11, nozzle; 12, air pump; 2, supporting device; 21, telescopic rod; 22, support rod; 221, supporting plate; 222, first fixed axis; 23, limiting component; 231, second fixed axis; 232, second movable rod; 233, second elastic member; 24, induction component; 241, induction plate; 2411, wedge block; 242, third elastic member; 3, air pressure drive device; 31, first air pressure Cabin; 311, first piston; 32, second air pressure cabin; 321, second piston; 322, first connecting rod; 33, linear drive assembly; 331, third air pressure cabin; 332, third piston; 333, second connecting rod; 34, push rod; 4, auxiliary control mechanism; 41, locking assembly; 411, locking block; 412, first elastic member; 413, slot; 42, control assembly; 421, first movable rod; 422, vertical plate. 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 3 and Figure 7 : A multi-head suction nozzle mechanism with adjustable spacing, including a frame 1, on which at least two suction nozzles 11 are arranged, and the frame 1 is provided with an air pump 12 connected to the suction nozzles 11; the frame 1 is provided with a supporting device 2, the supporting device 2 includes a telescopic rod 21 and a support rod 22 hinged to the telescopic rod 21, and the end of the support rod 22 away from the telescopic rod 21 is provided with a supporting plate 221; the frame 1 is provided with a pneumatic driving device 3 for driving the telescopic rod 21 and the support rod 22, and the pneumatic driving device 3 is connected to the air pump 12; when the suction nozzle 11 adsorbs the workpiece, the pneumatic driving device 3 controls the support rod 22 to rotate from a horizontal state to a vertical state, and the pneumatic driving device 3 drives the telescopic rod 21 to contract until the support rod 22 clamps the workpiece.

[0032] The present invention realizes the function of supporting the workpiece by the supporting plate 221 after the workpiece is adsorbed through the frame 1, the supporting device 2 and the pneumatic drive device 3, and through the driving control of the pneumatic drive device 3, the support rod 22 is controlled to move to the supporting position only after the workpiece is adsorbed, thereby preventing the support rod 22 and the supporting plate 221 from affecting the docking of the suction nozzle 11 with the workpiece, thereby improving the adsorption accuracy of the suction nozzle 11 while stabilizing the transfer of the workpiece, and solving the problem that the traditional suction nozzle affects the docking of the suction nozzle 11 with the workpiece in order to support the workpiece. A plurality of groups of suction nozzles 11 are provided on the frame 1, and the number of each group of suction nozzles 11 is two. The support rod 22 is in a horizontal state in the reset state, and the telescopic rod 21 is in an extended state in the reset state. When the workpiece is adsorbed, the telescopic rod 21 and the support rod 22 are prevented from affecting the docking of the workpiece with the suction nozzle 11. When adsorbing the workpiece, align the corresponding number of suction nozzles 11 with the workpiece according to the size of the workpiece, and then provide negative pressure through the air pump 12 to adsorb the workpiece. After the workpiece is adsorbed, the air pressure drive device 3 also drives the telescopic rod 21 and the support rod 22 under the action of negative pressure, and the support rod 22 rotates from a horizontal state to a vertical state under the action of the driving force. Then the telescopic rod 21 contracts under the action of negative pressure, so that the support rod 22 can abut against the workpiece. And after the support rod 22 clamps the workpiece, the support plate 221 at the end of the support rod 22 provides support for the workpiece to prevent the workpiece from falling off during transportation.

[0033] Reference Figure 1-Figure 4 The pneumatic drive device 3 includes a first pneumatic chamber 31 and a second pneumatic chamber 32 with an opening on one side connected to the air pump 12; the first pneumatic chamber 31 is arranged on the frame 1, and a first piston 311 is slidably arranged in the first pneumatic chamber 31, and the first piston 311 is connected to the telescopic rod 21; the second pneumatic chamber 32 is hinged to the telescopic rod 21, and a second piston 321 is slidably arranged in the second pneumatic chamber 32, and a first connecting rod 322 is provided on the second piston 321, and the first connecting rod 322 is hinged to the support rod 22.

[0034] The present invention realizes the function of driving the telescopic rod 21 and the support rod 22 by the air pressure provided by the air pump 12 through the first air pressure chamber 31 and the second air pressure chamber 32, so as to achieve the effect of automatically starting the air pressure driving device 3 after the workpiece is adsorbed. At the same time, it also avoids the situation that the support rod 22 is driven to rotate before the workpiece is adsorbed, causing the support rod 22 to affect the docking of the suction nozzle 11 with the workpiece. The inner cavity of the first piston 311 in the first air pressure chamber 31 on the side away from the telescopic rod 21 is connected to the air pump 12, and the inner cavity of the second piston 321 in the second air pressure chamber 32 on the side away from the first connecting rod 322 is connected to the air pump 12. After the suction nozzle 11 is docked with the workpiece, the air pump 12 generates negative pressure, and the suction nozzle 11 adsorbs the workpiece under the action of air pressure. At the same time, the inner cavity in the second air pressure chamber 32 connected to the air pump 12 is negative pressure, and the side of the second piston 321 close to the second connecting rod 333 is set as an opening, so that the second piston 321 is affected by atmospheric pressure. Under the action of the air pressure difference at both ends, the second piston 321 drives the first connecting rod 322 to contract under the push of air pressure, and then pulls the support rod 22 to rotate through the first connecting rod 322, until the first connecting rod 322 contracts to the limit position, and the support rod 22 rotates from the horizontal state to the vertical state. The two ends of the first piston 311 in the first air pressure chamber 31 are also affected by air pressure. Under the action of air pressure, the first piston 311 drives the telescopic rod 21 to contract, and the telescopic rod 21 drives the support rod 22 to move, so that the support rod 22 can abut against the workpiece, and the support plate 221 at the end of the support rod 22 provides support for the workpiece.

[0035] Reference Figure 2 and Figure 5 : An auxiliary control mechanism 4 is provided on the frame 1, and the auxiliary control mechanism 4 includes a locking component 41 for limiting the contraction of the telescopic rod 21 and a control component 42 for releasing the contraction restriction of the telescopic rod 21 by the locking component 41; when the support rod 22 rotates from a horizontal state to a vertical state, the control component 42 releases the contraction restriction of the telescopic rod 21 by the locking component 41.

[0036] The present invention realizes the function of controlling the movement sequence of the telescopic rod 21 and the support rod 22 through the cooperation of the locking component 41 and the control component 42. The telescopic rod 21 is driven to retract only after the support rod 22 rotates to a vertical state. This prevents the support plate 221 from being unable to move to the bottom of the workpiece due to the support rod 22 abutting against the workpiece before rotating to a vertical state. The support rod 22 is detachably connected to the control component 42. The movement sequence of the telescopic rod 21 and the support rod 22 is controlled by the cooperation of the locking component 41 and the control component 42. After the suction nozzle 11 adsorbs the workpiece, the first connecting rod 322 first contracts under the action of air pressure, and then pulls the support rod 22 to rotate. At this time, the telescopic rod 21 cannot contract due to the restriction of the locking component 41. When the support rod 22 rotates to the vertical state, the control component 42 is pushed, and the control component 42 releases the contraction restriction of the telescopic rod 21 by the locking component 41. The telescopic rod 21 contracts under the action of air pressure, thereby driving the support rod 22 in the vertical state to move until the support rod 22 clamps the workpiece, and the support plate 221 at the end of the support rod 22 is used to prevent the workpiece from falling off.

[0037] Reference Figure 5 and Figure 6 : The locking assembly 41 includes a locking block 411 and a first elastic member 412; the locking block 411 is slidably set on the frame 1, and a slot 413 cooperating with the locking block 411 is provided on the telescopic rod 21. When the locking block 411 is plugged into the slot 413, the telescopic rod 21 is restricted from contracting; the two ends of the first elastic member 412 are respectively connected to the locking block 411 and the frame 1.

[0038] The present invention realizes the function of limiting the contraction of the telescopic rod 21 through the locking block 411, the first elastic member 412 and the slot 413. When the telescopic rod 21 is in the reset state, the locking block 411 is aligned with the slot 413, and the locking block 411 moves toward the slot 413 under the elastic force of the first elastic member 412, so that the locking block 411 is engaged with the slot 413, thereby limiting the contraction of the telescopic rod 21. When the support rod 22 rotates to the vertical state, the control component 42 is driven by the squeezing action provided by the support rod 22, and the control component 42 transmits the torque to the locking block 411, so that the locking block 411 moves in the direction away from the slot 413. After the locking block 411 is separated from the slot 413, the contraction restriction of the telescopic rod 21 by the locking component 41 is released.

[0039] Reference Figure 5 and Figure 6 : The control component 42 includes a first movable rod 421 and a vertical plate 422; the first movable rod 421 is slidably set on the telescopic rod 21; the vertical plate 422 is connected to the first movable rod 421, and when the support rod 22 is rotated to a vertical state, the vertical plate 422 is squeezed and the first movable rod 421 is pushed into the slot 413.

[0040] The present invention realizes the function of pushing the locking block 411 through the first movable rod 421 and the vertical plate 422. In the reset state, the locking block 411 is plugged into the card slot 413. When the support rod 22 rotates to the vertical state, it pushes the vertical plate 422 on the first movable rod 421, and then squeezes the vertical plate 422. Under the squeezing action, the vertical plate 422 drives the first movable rod 421 to move, and pushes the first movable rod 421 into the card slot 413. Then, through the squeezing action of the first movable rod 421, the locking block 411 is pushed out of the card slot 413, and the movement restriction of the telescopic rod 21 by the locking assembly 41 is cancelled, and the telescopic rod 21 contracts under the action of negative pressure.

[0041] Reference Figure 2-Figure 4 The pneumatic drive device 3 includes a push rod 34 movably arranged on the frame 1 and a linear drive assembly 33 for driving the push rod 34 to move; the linear drive assembly 33 is arranged on the frame 1, and a first fixed shaft 222 is provided on the support rod 22. When the linear drive assembly 33 drives the push rod 34 to extend, the push rod 34 pushes the first fixed shaft 222 when it contacts the first fixed shaft 222.

[0042] The present invention realizes the function of driving the support rod 22 and the telescopic rod 21 to reset through the linear drive assembly 33 and the push rod 34. After the workpiece transfer is completed, the support rod 22 and the telescopic rod 21 need to be pushed to reset so that the suction nozzle 11 can adsorb the workpiece again. The push rod 34 is in a vertical state, and both ends of the push rod 34 are provided with arc sections extending in a direction away from the linear drive assembly 33. The first connecting rod 322 is hinged with the first fixed shaft 222. After the workpiece transfer is completed, the operator drives the push rod 34 to extend through the linear drive assembly 33, and the push rod 34 pushes the first fixed shaft 222 after contacting with the first fixed shaft 222. The first fixed shaft 222 drives the support rod 22 to move, and at the same time, the telescopic rod 21 is pulled under the tensile force transmitted by the support rod 22 until the support rod 22 and the telescopic rod 21 are both in the reset state. Through the push rod 34 along the vertical direction, even if the support rod 22 rotates during the movement, the first fixed shaft 222 will not separate from the push rod 34. Furthermore, the arc sections at both ends of the push rod 34 can further limit the rotation range of the support rod 22, thereby preventing the support rod 22 from being deflected during the movement.

[0043] Reference Figure 2-Figure 4 : The linear drive assembly 33 includes a third air pressure chamber 331, a third piston 332 and a second connecting rod 333; the third air pressure chamber 331 is arranged on the frame 1, and the third piston 332 is slidably arranged in the third air pressure chamber 331. The third piston 332 separates a first cavity and a second cavity in the third air pressure chamber 331, the first cavity is filled with air, and the second cavity is connected to the air pump 12; the two ends of the second connecting rod 333 are respectively connected to the third piston 332 and the push rod 34, and the second connecting rod 333 passes through the first cavity.

[0044] The present invention realizes the function of driving the push rod 34 to move through the third air pressure chamber 331, the third piston 332 and the second connecting rod 333. In the working state, when the air pump 12 generates negative pressure and adsorbs the workpiece through the suction nozzle 11, the second cavity in the third air pressure chamber 331 is also in a negative pressure state. At this time, the third piston 332 pushes the second connecting rod 333 to contract under the action of air pressure to prevent the second connecting rod 333 from affecting the movement of the support rod 22 and the telescopic rod 21, and the volume of the first cavity increases, and the internal air pressure decreases until the second piston 321 is in a force balance state. After the adsorption is completed, the air pump 12 no longer provides negative pressure, and the suction nozzle 11 is separated from the workpiece. At this time, the air pressure in the second cavity in the third air pressure chamber 331 is the same as the atmospheric pressure, and the first cavity is in a negative pressure state. The third piston 332 moves under the action of air pressure and drives the second connecting rod 333 to move, and the push rod 34 is pushed to move through the second connecting rod 333. After the push rod 34 contacts the first fixed shaft 222, it pushes the support rod 22 and the telescopic rod 21 to reset.

[0045] Reference Figure 2 and Figure 4 : The supporting device 2 includes a limiting component 23 and a sensing component 24; the limiting component 23 is used to limit the rotation of the support rod 22; the sensing component 24 is used to sense the contact between the support rod 22 and the workpiece; when the support rod 22 clamps the workpiece, the limiting component 23 limits the rotation of the support rod 22.

[0046] The present invention realizes the function of stabilizing the state of the support rod 22 when clamping the workpiece through the limiting component 23 and the sensing component 24. When the air pump 12 no longer provides negative pressure, the suction nozzle 11 no longer provides adsorption to the workpiece. At this time, the telescopic rod 21 has a tendency to extend under the action of air pressure, and the support rod 22 has a tendency to rotate under the action of air pressure. If the support rod 22 rotates before the telescopic rod 21 is extended, the support plate 221 at the end of the support rod 22 abuts against the workpiece, which will affect the rotation of the support rod 22 and may even increase the friction between the support plate 221 and the workpiece, thereby affecting the extension of the telescopic rod 21 and causing the telescopic rod 21 to get stuck. Not only is it impossible to control the resetting of the telescopic rod 21 and the support rod 22, but it is also impossible to put the workpiece down smoothly. To this end, a limiting assembly 23 is provided for limiting the rotation of the support rod 22. When the telescopic rod 21 and the support rod 22 are controlled to reset, if the support rod 22 clamps the workpiece, the support rod 22 is limited to rotate by the limiting assembly 23. At this time, when the push rod 34 pushes the first fixed shaft 222, the thrust is transmitted to the telescopic rod 21 through the support rod 22. Then, the telescopic rod 21 is pushed to extend until the support rod 22 is separated from the workpiece, and the workpiece is separated from the suction nozzle 11, and the push rod 34 continues to push the support rod 22 and the telescopic rod 21 to reset.

[0047] Reference Figure 5 , Figure 8-Figure 10: The limiting component 23 includes a second fixed shaft 231, a second movable rod 232 and a second elastic member 233; the second fixed shaft 231 is set on the telescopic rod 21, and the support rod 22 is rotatably connected to the second fixed shaft 231; the second movable rod 232 is slidably set on the support rod 22, and the second movable rod 232 is transmission-connected to the sensing component 24; the two ends of the second elastic member 233 are respectively connected to the second movable rod 232 and the support rod 22.

[0048] The present invention realizes the function of limiting the rotation of the support rod 22 through the second fixed shaft 231, the second movable rod 232 and the second elastic member 233. When the second movable rod 232 contacts the second fixed shaft 231, the rotation of the support rod 22 is limited. When the support rod 22 is in a reset state, the second movable rod 232 is in a reset state under the pulling force of the second elastic member 233, and the second movable rod 232 is separated from the second fixed shaft 231. After the suction nozzle 11 adsorbs the workpiece, when the support rod 22 clamps the workpiece, the sensing component 24 controls the second movable rod 232 to extend, the second elastic member 233 to extend, and the second movable rod 232 contacts the second fixed shaft 231, thereby limiting the rotation of the second fixed shaft 231 relative to the second movable rod 232 through friction, and then limiting the rotation of the support rod 22. Until the support rod 22 is separated from the workpiece, the second movable rod 232 is reset under the elastic force of the second elastic member 233, so that the second movable rod 232 is separated from the second fixed shaft 231, and the rotation of the support rod 22 is no longer limited.

[0049] Reference Figure 8-Figure 10 The sensing assembly 24 includes a sensing plate 241 and a third elastic member 242; the sensing plate 241 is movably disposed on the support rod 22, and a wedge 2411 is provided on the sensing plate 241 to abut against the second movable rod 232; both ends of the third elastic member 242 are connected to the sensing plate 241 and the support rod 22 respectively.

[0050] The present invention realizes the function of driving the second movable rod 232 when the support rod 22 clamps the workpiece through the induction plate 241, the third elastic member 242 and the wedge block 2411. When the support rod 22 clamps the workpiece, the workpiece applies a reaction force to the induction plate 241, the third elastic member 242 contracts under the force, and the induction plate 241 drives the wedge block 2411 to move under the force, and then squeezes the second movable rod 232 through the wedge block 2411, pushing the second movable rod 232 to move toward the second fixed shaft 231, so that the second movable rod 232 contacts the second fixed shaft 231, and the rotation of the support rod 22 is restricted. When the support rod 22 no longer clamps the workpiece, the induction plate 241 is reset under the elastic force of the third elastic member 242, and the second movable rod 232 is reset under the elastic force of the second elastic member 233, so that the second movable rod 232 is separated from the second fixed shaft 231, and the rotation of the support rod 22 is no longer restricted.

[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 multi-head suction nozzle mechanism with adjustable spacing, comprising a frame (1), at least two suction nozzles (11) being provided on the frame (1), and an air pump (12) being connected to the suction nozzles (11); It is characterized in that A supporting device (2) is provided on the frame (1), the supporting device (2) comprising a telescopic rod (21) and a support rod (22) hinged to the telescopic rod (21), and a supporting plate (221) is provided at one end of the support rod (22) away from the telescopic rod (21); A pneumatic drive device (3) for driving the telescopic rod (21) and the support rod (22) is provided on the frame (1), and the pneumatic drive device (3) is connected to the air pump (12); When the suction nozzle (11) adsorbs the workpiece, the pneumatic drive device (3) controls the support rod (22) to rotate from a horizontal state to a vertical state, and the pneumatic drive device (3) drives the telescopic rod (21) to contract until the support rod (22) clamps the workpiece.

2. A multi-nozzle mechanism with adjustable spacing according to claim 1, characterized in that: The pneumatic drive device (3) comprises a first pneumatic chamber (31) and a second pneumatic chamber (32) which are connected to the air pump (12); The first air pressure chamber (31) is arranged on the frame (1), and a first piston (311) is slidably arranged in the first air pressure chamber (31), and the first piston (311) is connected to the telescopic rod (21); The second air pressure chamber (32) is hinged to the telescopic rod (21), a second piston (321) is slidably arranged in the second air pressure chamber (32), a first connecting rod (322) is arranged on the second piston (321), and the first connecting rod (322) is hinged to the support rod (22).

3. The multi-nozzle mechanism with adjustable spacing according to claim 1, characterized in that: An auxiliary control mechanism (4) is provided on the frame (1), and the auxiliary control mechanism (4) comprises a locking component (41) for limiting the contraction of the telescopic rod (21) and a control component (42) for releasing the contraction restriction of the telescopic rod (21) by the locking component (41); When the support rod (22) rotates from a horizontal state to a vertical state, the control component (42) releases the contraction restriction of the telescopic rod (21) by the locking component (41).

4. The multi-nozzle mechanism with adjustable spacing according to claim 3, characterized in that: The locking assembly (41) comprises a locking block (411) and a first elastic member (412); The locking block (411) is slidably disposed on the frame (1); a slot (413) cooperating with the locking block (411) is provided on the telescopic rod (21); when the locking block (411) and the slot (413) are plugged and engaged, the telescopic rod (21) is restricted from retracting; Two ends of the first elastic member (412) are respectively connected to the locking block (411) and the frame (1).

5. The multi-nozzle mechanism with adjustable spacing according to claim 4, characterized in that: The control assembly (42) comprises a first movable rod (421) and a vertical plate (422); The first movable rod (421) is slidably disposed on the telescopic rod (21); The vertical plate (422) is connected to the first movable rod (421), and when the support rod (22) is rotated to a vertical state, the vertical plate (422) is pressed and the first movable rod (421) is pushed into the slot (413).

6. The multi-nozzle mechanism with adjustable spacing according to claim 2, characterized in that: The pneumatic drive device (3) comprises a push rod (34) movably arranged on the frame (1) and a linear drive assembly (33) for driving the push rod (34) to move; The linear drive assembly (33) is arranged on the frame (1), and the support rod (22) is provided with a first fixed shaft (222). When the linear drive assembly (33) drives the push rod (34) to extend, the push rod (34) pushes the first fixed shaft (222) when it contacts the first fixed shaft (222).

7. The multi-nozzle mechanism with adjustable spacing according to claim 6, characterized in that: The linear drive assembly (33) comprises a third air pressure chamber (331), a third piston (332) and a second connecting rod (333); The third air pressure chamber (331) is arranged on the frame (1), the third piston (332) is slidably arranged in the third air pressure chamber (331), the third piston (332) separates a first cavity and a second cavity in the third air pressure chamber (331), the first cavity is filled with air, and the second cavity is connected to the air pump (12); Two ends of the second connecting rod (333) are respectively connected to the third piston (332) and the push rod (34), and the second connecting rod (333) passes through the first cavity.

8. The multi-nozzle mechanism with adjustable spacing according to claim 1, characterized in that: The supporting device (2) comprises a limiting component (23) and a sensing component (24); The limiting component (23) is used to limit the rotation of the support rod (22); The sensing component (24) is used to sense the contact between the support rod (22) and the workpiece; When the support rod (22) clamps the workpiece, the limiting assembly (23) limits the rotation of the support rod (22).

9. The multi-nozzle mechanism with adjustable spacing according to claim 8, characterized in that: The limiting component (23) comprises a second fixed shaft (231), a second movable rod (232) and a second elastic member (233); The second fixed shaft (231) is arranged on the telescopic rod (21), and the support rod (22) is rotatably connected to the second fixed shaft (231); The second movable rod (232) is slidably disposed on the support rod (22), and the second movable rod (232) is transmission-connected to the sensing component (24); Two ends of the second elastic member (233) are respectively connected to the second movable rod (232) and the support rod (22).

10. The multi-nozzle mechanism with adjustable spacing according to claim 8, characterized in that: The sensing component (24) comprises a sensing plate (241) and a third elastic member (242); The induction plate (241) is movably arranged on the support rod (22), and a wedge block (2411) abutting against the second movable rod (232) is provided on the induction plate (241); Two ends of the third elastic member (242) are respectively connected to the sensing plate (241) and the support rod (22).

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