A multi-head suction nozzle mechanism with adjustable spacing

Abstract

The present invention relates to the field of chip assembly, and specifically to a multi-head suction nozzle mechanism with adjustable spacing, comprising a frame, on which at least two suction nozzles are arranged; a supporting device is arranged on the frame, and the supporting device comprises a telescopic rod and a support rod hinged to the telescopic rod, and a support plate is arranged 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 arranged on the frame, and the pneumatic driving device is connected to an air pump; when the suction nozzle adsorbs a 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. The present invention realizes the function of supporting the workpiece by the support plate after adsorbing the workpiece, thereby avoiding the support rod and the support plate from affecting the docking of 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 affects the docking of the suction nozzle and the workpiece in order to support the workpiece.

Description

Technical Field

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

[0002] During the chip assembly process, vacuum suction cups are usually used to transfer chips. However, the existing multi-head nozzle mechanisms can only transfer a small number of concentrated chips. Limited by the adsorption position of the vacuum suction cup, they cannot adapt to other types of chips with different volumes, resulting in poor adaptability of the nozzles, affecting the chip assembly efficiency. Configuring multiple sets of nozzles is time-consuming and laborious to replace the nozzles, and also leads to a significant increase in costs.

[0003] For this reason, a Chinese patent with the authorization announcement number CN112420589B discloses a multi-head nozzle mechanism for a chip assembly loading and unloading machine. It uses 6 nozzles in each of the front and rear rows. The nozzle adjustment plate adopts an oval hole adjustment method, which can conveniently adjust the left and right spacing of the nozzles. At the same time, the oval holes can enable the nozzle mounting block to rotate 360 degrees therein, so as to conveniently adjust the front and rear spacing of the nozzles. Workers can increase or decrease the number of nozzles and adjust the spacing of the nozzles according to the required specifications and dimensions of the chips to be transported, so that this mechanism can successfully suck chips each time, with strong compatibility and high reliability, greatly improving the production efficiency of the entire equipment. And a jaw mechanism is added below the nozzle, which can support the bottom of the chip after sucking the chip, thus avoiding the risk of chip detachment caused by other uncertain factors during handling, and providing guarantee for the overall stability of the equipment.

[0004] In order to ensure that the jaws can stably support the chip, the height of the jaws needs to be lower than that of the nozzle. However, when sucking the chip, once the jaws contact the chip, it will hinder the downward movement of the nozzle, resulting in the nozzle being unable to suck the chip smoothly and affecting the chip transfer work. Summary of the Invention

[0005] Aiming at the above problems, a multi-head nozzle mechanism with adjustable spacing is provided, which solves the problem that the traditional nozzle affects the docking of the nozzle and the workpiece in order to support the workpiece through a frame, a supporting device and a pneumatic driving device.

[0006] To solve the problems of the existing technology, the present invention provides a multi-head nozzle mechanism with adjustable spacing, including a frame. At least two nozzles are provided on the frame, and an air pump communicated with the nozzles is provided on the frame. A supporting device is provided on the frame. The supporting device includes a telescopic rod and a supporting rod hinged to the telescopic rod. A supporting plate is provided at the end of the supporting rod away from the telescopic rod. A pneumatic driving device for driving the telescopic rod and the supporting rod is provided on the frame, and the pneumatic driving device is communicated with the air pump. When the 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.

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

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

[0009] Preferably, the locking component includes a locking block and a first elastic member; the locking block is slidably arranged on the frame, and a clamping groove cooperating with the locking block is formed on the telescopic rod. When the locking block is inserted and cooperated with the clamping groove, the contraction of the telescopic rod is restricted; two ends of the first elastic member are respectively connected to the locking block and the frame.

[0010] Preferably, the control component 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. When the support rod rotates to the vertical state, the vertical plate is squeezed and the first movable rod is pushed into the clamping groove.

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

[0012] Preferably, the linear driving component includes a third pneumatic chamber, a third piston and a second connecting rod; the third pneumatic chamber is arranged on the frame, the third piston is slidably arranged in the third pneumatic chamber, the third piston divides the third pneumatic chamber into a first cavity and a second cavity in the third pneumatic chamber, air is filled in the first cavity, and the second cavity communicates with the air pump; 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 for restricting the rotation of the support rod; the sensing component is used for sensing the contact situation between the support rod and the workpiece; when the support rod clamps the workpiece, the limiting component restricts 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 is in transmission connection with the sensing component; 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 abutted against the second movable rod is arranged on the sensing plate; two ends of the third elastic member are respectively connected to the sensing plate and the support rod.

[0016] The beneficial effects of the present invention compared with the prior art are as follows:

[0017] 1. The present invention realizes the function of supporting the workpiece by the supporting plate after adsorbing the workpiece through the frame, the supporting device and the pneumatic driving device, and through the driving control of the pneumatic driving device, only after adsorbing the workpiece, the support rod is controlled to move to the supporting position, avoiding the influence of the support rod and the supporting plate on the docking of the suction nozzle and the workpiece, and further improving the adsorption accuracy of the suction nozzle while stably transporting the workpiece, and solving the problem that the traditional suction nozzle affects the docking of the suction nozzle and the workpiece in order to support the workpiece.

[0018] 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 air pressure chamber and the second air pressure chamber, achieving the effect of automatically starting the pneumatic driving device after adsorbing the workpiece. At the same time, it also avoids the situation that the support rod rotates before adsorbing the workpiece and affects the docking of the suction nozzle and the workpiece. After the suction nozzle is docked with the workpiece, 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 of the second air pressure chamber communicated with the air pump is in negative pressure, and one side of the second piston close to the second connecting rod is open, so that the second piston is affected by the 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 the 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 the horizontal state to the vertical state. Both ends of the first piston in the first air pressure chamber are also affected by the air pressure. The first piston drives the telescopic rod to contract under the action of the air pressure, and the telescopic rod drives the support rod to move, so that the support rod can abut against the workpiece, and the supporting plate at the bottom of the support rod provides a supporting effect for the workpiece.

[0019] 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 component and the control component. After the support rod rotates to the vertical state, the telescopic rod is driven to contract. Avoid the situation that the support rod abuts against the workpiece before rotating to the vertical state, resulting in the supporting plate being unable to move to the bottom of the workpiece. Description of the Drawings

[0020] Figure 1 is a three-dimensional schematic diagram of a multi-head suction nozzle mechanism with adjustable spacing according to the present invention.

[0021] Figure 2 is a three-dimensional schematic diagram of the cooperation between some suction nozzles and the supporting device in a multi-head suction nozzle mechanism with adjustable spacing according to the present invention.

[0022] Figure 3 This is a three-dimensional schematic diagram of the unilateral supporting device in a multi-nozzle suction mechanism with adjustable spacing according to the present invention when the support rod is in a vertical state.

[0023] Figure 4 This is a three-dimensional exploded schematic diagram of the unilateral supporting device in a multi-nozzle suction mechanism with adjustable spacing according to the present invention.

[0024] Figure 5 This is a three-dimensional schematic diagram of the telescopic rod and the auxiliary control mechanism in a multi-nozzle suction mechanism with adjustable spacing according to the present invention.

[0025] Figure 6 This is a three-dimensional exploded schematic diagram of the telescopic rod and the auxiliary control mechanism in a multi-nozzle suction mechanism with adjustable spacing according to the present invention.

[0026] Figure 7 This is a three-dimensional schematic diagram of a multi-nozzle suction mechanism with adjustable spacing according to the present invention in a working state.

[0027] Figure 8 This is a three-dimensional schematic diagram of the support rod, the limiting component and the sensing component in a multi-nozzle suction mechanism with adjustable spacing according to the present invention in a clamped state.

[0028] Figure 9 This is of the present invention Figure 8 Partial enlarged schematic diagram at position A.

[0029] Figure 10 This is a three-dimensional schematic diagram of the support rod, the limiting component and the sensing component in a multi-nozzle suction mechanism with adjustable spacing according to the present invention in a reset state.

[0030] Reference numerals in the figure are: 1, frame; 11, suction nozzle; 12, air pump; 2, supporting device; 21, telescopic rod; 22, support rod; 221, supporting plate; 222, first fixed shaft; 23, limiting component; 231, second fixed shaft; 232, second movable rod; 233, second elastic member; 24, sensing component; 241, sensing plate; 2411, wedge block; 242, third elastic member; 3, pneumatic driving device; 31, first pneumatic chamber; 311, first piston; 32, second pneumatic chamber; 321, second piston; 322, first connecting rod; 33, linear driving assembly; 331, third pneumatic chamber; 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, card slot; 42, control component; 421, first movable rod; 422, vertical plate. Detailed implementation manners

[0031] To further understand the features, technical means, specific purposes, and functions achieved by the present invention, the present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments.

[0032] Refer to Figures 1-3 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 provided, and an air pump 12 communicating with the suction nozzles 11 is provided on the frame 1; a supporting device 2 is provided on the frame 1, the supporting device 2 includes a telescopic rod 21 and a supporting rod 22 hinged to the telescopic rod 21, and a supporting plate 221 is provided at one end of the supporting rod 22 away from the telescopic rod 21; a pneumatic driving device 3 for driving the telescopic rod 21 and the supporting rod 22 is provided on the frame 1, and the pneumatic driving device 3 is communicated with the air pump 12; when the suction nozzle 11 adsorbs the workpiece, the pneumatic driving device 3 controls the supporting rod 22 to rotate from the horizontal state to the vertical state, and the pneumatic driving device 3 drives the telescopic rod 21 to contract until the supporting rod 22 clamps the workpiece.

[0033] The present invention realizes the function of supporting the workpiece by the supporting plate 221 after adsorbing the workpiece through the frame 1, the supporting device 2, and the pneumatic driving device 3, and through the driving control of the pneumatic driving device 3, the effect that the supporting rod 22 is controlled to move to the supporting position only after adsorbing the workpiece is achieved, avoiding the influence of the supporting rod 22 and the supporting plate 221 on the docking of the suction nozzle 11 and the workpiece, thereby improving the adsorption accuracy of the suction nozzle 11 while stably transporting the workpiece, and solving the problem that the traditional suction nozzle affects the docking of the suction nozzle 11 and the workpiece in order to support the workpiece. Multiple groups of suction nozzles 11 are provided on the frame 1, and the number of each group of suction nozzles 11 is two. The supporting rod 22 is in the horizontal state in the reset state, and the telescopic rod 21 is in the extended state in the reset state. When adsorbing the workpiece, the influence of the telescopic rod 21 and the supporting rod 22 on the docking of the workpiece and the suction nozzle 11 is avoided. When adsorbing the workpiece, according to the size of the workpiece, the corresponding groups of suction nozzles 11 are aligned with the workpiece, and then the air pump 12 provides negative pressure to adsorb the workpiece. After adsorbing the workpiece, the pneumatic driving device 3 also drives the telescopic rod 21 and the supporting rod 22 under the action of negative pressure, and the supporting rod 22 rotates from the horizontal state to the vertical state under the action of the driving force. Then the telescopic rod 21 contracts under the action of negative pressure, so that the supporting rod 22 can abut against the workpiece. And after the supporting rod 22 clamps the workpiece, the supporting plate 221 at the end of the supporting rod 22 provides a supporting effect for the workpiece to avoid the workpiece from falling off during the transportation process.

[0034] Refer to Figures 1-4: The pneumatic driving device 3 includes a first pneumatic chamber 31 and a second pneumatic chamber 32 with one side open and communicating with 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, a second piston 321 is slidably arranged in the second pneumatic chamber 32, 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.

[0035] 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 pneumatic chamber 31 and the second pneumatic chamber 32, achieving the effect of automatically starting the pneumatic driving device 3 after adsorbing the workpiece. At the same time, it also avoids the situation that the support rod 22 affects the docking of the suction nozzle 11 and the workpiece due to the rotation of the support rod 22 before adsorbing the workpiece. The inner cavity on the side of the first piston 311 in the first pneumatic chamber 31 away from the telescopic rod 21 communicates with the air pump 12, and the inner cavity on the side of the second piston 321 in the second pneumatic chamber 32 away from the first connecting rod 322 communicates with 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 pneumatic chamber 32 communicating with the air pump 12 is in negative pressure, and the side of the second piston 321 close to the second connecting rod 333 is open, so that the second piston 321 is affected by the 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 the 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. Both ends of the first piston 311 in the first pneumatic chamber 31 are also affected by the air pressure. The first piston 311 drives the telescopic rod 21 to contract under the action of the air pressure, 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 a supporting effect for the workpiece.

[0036] Refer to Figure 2 and Figure 5 : An auxiliary control mechanism 4 is provided on the frame 1. The auxiliary control mechanism 4 includes a locking component 41 for restricting the contraction of the telescopic rod 21 and a control component 42 for releasing the contraction restriction of the locking component 41 on the telescopic rod 21; when the support rod 22 rotates from the horizontal state to the vertical state, the control component 42 releases the contraction restriction of the locking component 41 on the telescopic rod 21.

[0037] 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.

[0038] 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.

[0039] 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.

[0040] 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.

[0041] 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 inserted and cooperated with 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 the first movable rod 421 is pushed 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, canceling the movement restriction of the locking component 41 on the telescopic rod 21, and the telescopic rod 21 contracts under the negative pressure action.

[0042] Refer to Figures 2-4 : The pneumatic driving device 3 includes a push rod 34 movably arranged on the frame 1 and a linear driving component 33 for driving the push rod 34 to move; the linear driving component 33 is arranged on the frame 1, and a first fixed shaft 222 is provided on the support rod 22. During the process of the linear driving component 33 driving the push rod 34 to extend, when the push rod 34 contacts the first fixed shaft 222, it pushes the first fixed shaft 222.

[0043] The present invention realizes the function of driving the support rod 22 and the telescopic rod 21 to reset through the linear driving component 33 and the push rod 34. After the workpiece transfer is completed, it is necessary to push the support rod 22 and the telescopic rod 21 to reset so that the suction nozzle 11 can adsorb the workpiece again. The push rod 34 is in a vertical state, and arc-shaped segments extending away from the linear driving component 33 are provided at both ends of the push rod 34. The first connecting rod 322 is hinged to the first fixed shaft 222. After the workpiece transfer is completed, the operator drives the push rod 34 to extend through the linear driving component 33. After the push rod 34 contacts the first fixed shaft 222, it pushes the first fixed shaft 222. The first fixed shaft 222 drives the support rod 22 to move, and at the same time, under the pulling force transmitted by the support rod 22, the telescopic rod 21 is pulled until both the support rod 22 and the telescopic rod 21 are in the reset state. Through the push rod 34 in 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. And through the arc-shaped segments at both ends of the push rod 34, the rotation range of the support rod 22 can be further restricted, avoiding the deviation of the support rod 22 during the movement.

[0044] Refer to Figures 2-4 : The linear driving component 33 includes a third air chamber 331, a third piston 332 and a second connecting rod 333; the third air chamber 331 is arranged on the frame 1, the third piston 332 is slidably arranged in the third air chamber 331, the third piston 332 divides the first chamber and the second chamber in the third air chamber 331, the first chamber is filled with air, and the second chamber is communicated with the air pump 12; both 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 chamber.

[0045] 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, avoiding the second connecting rod 333 from affecting the movement of the support rod 22 and the telescopic rod 21, while the volume of the first cavity increases and the air pressure inside it 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 of the third air pressure chamber 331 is the same as the atmospheric pressure, while 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. The push rod 34 is pushed to move through the second connecting rod 333, and after the push rod 34 contacts the first fixed shaft 222, it pushes the support rod 22 and the telescopic rod 21 to reset.

[0046] Refer to 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 situation between the support rod 22 and the workpiece; when the support rod 22 clamps the workpiece, the limiting component 23 restricts the rotation of the support rod 22.

[0047] 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 an adsorption effect on the workpiece. At this time, the telescopic rod 21 has a tendency to extend under the action of air pressure, while 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 extends, the supporting 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 cause an increase in the friction force between the supporting plate 221 and the workpiece, further affecting the extension of the telescopic rod 21 and causing the telescopic rod 21 to jam. Not only can the telescopic rod 21 and the support rod 22 not be controlled to reset, but also the workpiece cannot be smoothly placed down. For this reason, a limiting component 23 for restricting the rotation of the support rod 22 is provided. When controlling the telescopic rod 21 and the support rod 22 to reset, if the support rod 22 clamps the workpiece, the rotation of the support rod 22 is restricted by the limiting component 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, 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.

[0048] Refer to Figure 5 、 Figures 8-10: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 provided 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 provided on the support rod 22, and the second movable rod 232 is in transmission connection with the sensing component 24; both ends of the second elastic member 233 are connected to the second movable rod 232 and the support rod 22 respectively.

[0049] The present invention realizes the function of restricting 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 restricted. When the support rod 22 is in the reset state, the second movable rod 232 is in the reset state under the pulling force of the second elastic member 233. At this time, 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 elongates, the second movable rod 232 contacts the second fixed shaft 231, and then the rotation of the second fixed shaft 231 relative to the second movable rod 232 is restricted through the frictional force, and then the rotation of the support rod 22 is restricted. 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 no longer restricts the rotation of the support rod 22.

[0050] Refer to Figures 8-10 :The sensing component 24 includes a sensing plate 241 and a third elastic member 242; the sensing plate 241 is movably provided on the support rod 22, and a wedge block 2411 abutted against the second movable rod 232 is provided on the sensing plate 241; both ends of the third elastic member 242 are connected to the sensing plate 241 and the support rod 22 respectively.

[0051] The present invention realizes the function of driving the second movable rod 232 when the support rod 22 clamps the workpiece through the sensing plate 241, the third elastic member 242, and the wedge block 2411. When the support rod 22 clamps the workpiece, the workpiece exerts a reaction force on the sensing plate 241, the third elastic member 242 contracts under this force, the sensing plate 241 drives the wedge block 2411 to move under this force, and then the second movable rod 232 is pushed by the wedge block 2411, driving the second movable rod 232 to move towards the second fixed shaft 231, so that the second movable rod 232 contacts the second fixed shaft 231 and restricts the rotation of the support rod 22. When the support rod 22 no longer clamps the workpiece, the sensing 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 no longer restricts the rotation of the support rod 22.

[0052] The above embodiments merely represent one or several implementation manners of the present invention. The description thereof is relatively specific and detailed, but it should not be construed as a limitation to the scope of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can still be made, and these all fall within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the appended 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); The frame (1) is provided with a pneumatic drive device (3) for driving the telescopic rod (21) and the support rod (22), 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 retract until the support rod (22) clamps the workpiece; 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 disposed in the second air pressure chamber (32), a first connecting rod (322) is disposed on the second piston (321), and the first connecting rod (322) is hinged to the support rod (22); 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); 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).

2. A multi-nozzle mechanism with adjustable spacing according to claim 1, 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).

3. 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).

4. The multi-nozzle mechanism with adjustable spacing according to claim 3, 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.

5. 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).

6. A multi-nozzle mechanism with adjustable spacing according to claim 5, 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).

7. The multi-nozzle mechanism with adjustable spacing according to claim 6, 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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