A vision recognition based patch machine nozzle cleaning robot

Abstract

The present application relates to patch machine suction nozzle cleaning technical field, especially in kind of based on visual identification's patch machine suction nozzle cleaning robot, including: installation frame, the inside left and right sides of installation frame are all slidingly connected with support rod, the outside of support rod is fixedly connected with a plurality of mounting blocks, the outside of mounting block is equipped with self-adapting clamping mechanism, the outside left and right sides of installation frame are all fixedly connected with limit board.The present application provides a kind of based on visual identification's patch machine suction nozzle cleaning robot, through self-adapting clamping mechanism of batten, damping slider, return spring, rotating plate, link frame composition, suction nozzle placement board places, can be realized self-adapting opening and closing by extruding batten, each component linkage drives batten to automatically adhere different specifications, different arrangement suction nozzle placement board, need not manually adjust clamping spacing, break the limitation of fixed clamping mode, substantially improve the adaptation ability of device to various suction nozzle placement board.

Description

Technical Field

[0001] This invention relates to the field of pick-and-place machine nozzle cleaning technology, and in particular to a pick-and-place machine nozzle cleaning robot based on vision recognition. Background Technology

[0002] Cleaning robots are intelligent devices that rely on autonomous walking and cleaning components to complete environmental cleaning operations. The pick-and-place machine nozzle, based on vision recognition, is a precision adsorption and gripping component. In smart manufacturing workshops, the pick-and-place machine nozzle uses vision recognition to accurately locate components and complete the pick-and-place operation, while the cleaning robot automatically cleans the workbench, floor, and equipment perimeter around the pick-and-place machine at regular intervals.

[0003] Existing technologies include some visual recognition-based pick-and-place machine nozzle cleaning robots. These robots rely on high-definition vision modules to accurately locate the installation position and dirt distribution of various nozzle models on the pick-and-place machine. The equipment is equipped with a mobile walking mechanism and flexible cleaning components, which automatically move to the work area. Through real-time visual correction of alignment deviations, the robots precisely fit the nozzle tip and inner wall. They use a combination of negative pressure suction and brush wiping to remove dust, solder dross, and residual debris from the nozzle orifice. At the same time, the robots collect cleaning images in real time to provide feedback on the cleaning effect.

[0004] In practical applications, some vision-based pick-and-place machine nozzle cleaning robots, lacking adaptive clamping functionality for their nozzle placement plates, have fixed clamping structure spacing, making them unable to adapt to nozzle placement plates of different specifications and arrangements. This can lead to issues such as inadequate clamping and insecure fixation during clamping. During cleaning operations, the placement plate is prone to shifting and shaking, causing visual positioning deviations. This results in inaccurate cleaning head alignment, incomplete nozzle cleaning, residual dust and debris, and affects the subsequent component adsorption accuracy.

[0005] Therefore, it is necessary to provide a new type of visual recognition-based cleaning robot for pick-and-place machines to solve the above-mentioned technical problems. Summary of the Invention

[0006] To address the aforementioned technical problems, this invention provides a visual recognition-based cleaning robot for the nozzles of a chip mounter.

[0007] The present invention provides a visual recognition-based nozzle cleaning robot for a pick-and-place machine, comprising: a mounting frame, wherein support rods are slidably connected to the left and right sides inside the mounting frame, multiple mounting blocks are fixedly connected to the outside of the support rods, an adaptive clamping mechanism is mounted on the outside of the mounting blocks, limit plates are fixedly connected to the left and right sides outside the mounting frame, a mounting bracket is slidably connected to the outside of the limit plates, sliding guide rails are fixedly connected to the front and rear sides outside the mounting bracket, a cleaning conveyor is mounted on the outside of the sliding guide rails, an air nozzle is fixedly connected to the bottom of the cleaning conveyor, and an anti-backflow mechanism is mounted on the rear side of the mounting frame. The adaptive clamping mechanism includes a connecting frame, which is fixedly connected to the outside of the mounting block. Multiple rotating plates are rotatably connected to the outside of the connecting frame. A connecting frame is rotatably connected to the outside of the rotating plates. A damping slider is fixedly connected to the outside of the connecting frame. A clamping plate is slidably connected to the outside of the damping slider. A reset component is installed on the outside of the clamping plate. Limiting components are installed on both the front and rear sides of the inside of the mounting frame.

[0008] Preferably, the reset assembly includes a slide groove, the outside of which is formed inside the clamping plate, a fixing rod is fixedly connected to the outside of the slide groove, and a reset spring is sleeved on the outside of the fixing rod.

[0009] Preferably, one end of the return spring is fixedly connected to the outside of the damping slider, and the other end of the return spring is fixedly connected to the outside of the slide groove.

[0010] Preferably, the limiting component includes a limiting groove, the outside of which is formed inside the mounting frame, a mounting rod is fixedly connected inside the limiting groove, a tension spring is sleeved on the outside of the mounting rod, and the inside of the support rod is slidably connected to the outside of the mounting rod.

[0011] Preferably, the mounting frame has slidably connected limit rods on both the front and rear sides, and the mounting frame has multiple limit grooves on its exterior, with the exterior of the limit rods engaging with the exterior of the limit grooves.

[0012] Preferably, the anti-backflow mechanism includes an air box, the air box is fixedly connected to the rear side of the mounting frame, a pump body is fixedly connected to the top of the air box, and a delivery pipe is fixedly connected to the output end of the pump body.

[0013] Preferably, the conveying pipe is fixedly connected to an external mounting housing, the front side of the internal mounting housing is fixedly connected to a cross-shaped placement plate, the external side of the cross-shaped placement plate is fixedly connected to a placement housing, the internal side of the placement housing is slidably connected to a sliding rod, the external side of the sliding rod is fitted with a mounting spring, and the external side of the sliding rod is fixedly connected to a sealing assembly.

[0014] Preferably, the sealing assembly includes a sealing plate, the outer side of which is fixedly connected to the outer rear side of the sliding rod, and a sealing ring is fixedly connected to the inner rear side of the mounting housing, with the outer side of the sealing plate fitting against the outer side of the sealing ring.

[0015] Preferably, the outer side of the sliding rod is slidably connected to the inside of the mounting housing, and the outer side of the sealing plate is slidably connected to the inside of the mounting housing.

[0016] Preferably, a nozzle placement plate is fixedly connected to one of the two clamping plates on the adjacent side, and the outer bottom end of the air nozzle contacts the outer top end of the nozzle placement plate.

[0017] Compared with related technologies, the visual recognition-based nozzle cleaning robot for chip mounters provided by this invention has the following advantages: This invention utilizes an adaptive clamping mechanism composed of a clamping plate, a damping slider, a return spring, a rotating plate, and a connecting frame. When the nozzle placement plate is placed, the clamping plate can be squeezed to achieve adaptive opening and closing. The linkage of each component drives the clamping plate to automatically fit nozzle placement plates of different specifications and arrangements, eliminating the need for manual adjustment of the clamping distance. This breaks the limitations of the fixed clamping mode and greatly improves the device's adaptability to various nozzle placement plates.

[0018] This invention effectively prevents the backflow of cleaning airflow by using an anti-backflow mechanism consisting of a housing, a sliding rod, a sealing plate, and a mounting spring. This solves the problem of traditional cleaning systems lacking anti-backflow design, where backflow affects cleaning performance. When the pump is running, the airflow pressure pushes the sealing plate apart, ensuring smooth delivery of cleaning airflow to the nozzle. After the pump stops, the sealing plate automatically closes, blocking gas backflow.

[0019] This invention utilizes the locking action of the limiting lever and the limiting groove, along with a return spring pushing the clamping plate to fit tightly against the nozzle placement plate, a tension spring pushing the support rod to fit against the side of the placement plate to form an auxiliary limit, and the limiting lever inserting into the limiting groove to lock the position of the support rod. This triple protection ensures that the placement plate remains stable during cleaning operations, avoiding visual positioning deviations caused by placement plate displacement. Attached Figure Description

[0020] Figure 1 A schematic diagram of the structure of a chip mounter nozzle cleaning robot based on vision recognition provided by the present invention; Figure 2 for Figure 1 The diagram shows the structure of the nozzle placement plate. Figure 3 for Figure 2 Enlarged view of point A in the image; Figure 4 for Figure 1 The diagram shown is a structural schematic of the cleaning conveyor. Figure 5 for Figure 4 Enlarged view of point B in the image; Figure 6 for Figure 1 The diagram shows the structure of the limiting lever. Figure 7 for Figure 6 Enlarged view of point A in the image.

[0021] The following are the labeling elements in the diagram: 1. Mounting frame; 2. Support rod; 3. Mounting block; 4. Connecting frame; 5. Rotating plate; 6. Connecting frame; 7. Damping slider; 8. Clamping plate; 9. Slide groove; 10. Fixing rod; 11. Return spring; 12. Limiting groove; 13. Mounting rod; 14. Tension spring; 15. Nozzle placement plate; 16. Limiting plate; 17. Mounting frame; 18. Sliding guide rail; 19. Cleaning conveyor; 20. Air nozzle; 21. Air box; 22. Pump body; 23. Conveying pipe; 24. Mounting housing; 25. Cross placement plate; 26. Placement housing; 27. Sliding rod; 28. Mounting spring; 29. ​​Sealing plate; 30. Sealing ring; 31. Limiting lever; 32. Limiting groove. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely for explaining the present invention and are not intended to limit the present invention.

[0023] The specific implementation of the present invention will be described in detail below with reference to specific embodiments.

[0024] Please see Figures 1 to 3 A visual recognition-based pick-and-place machine nozzle cleaning robot includes: a mounting frame 1, providing sliding and mounting space for support rods 2 and limiting components, enabling normal operation of clamping position and limiting functions; support rods 2 are slidably connected to the left and right sides of the mounting frame 1, driving an adaptive clamping mechanism to slide left and right, adjusting the clamping distance to adapt to different specifications of pick-and-place machine nozzles; multiple mounting blocks 3 are fixedly connected to the outside of the support rods 2, transmitting the sliding force of the support rods 2 and driving the clamping mechanism to adjust synchronously, achieving flexible adaptation of the clamping distance; an adaptive clamping mechanism is installed on the outside of the mounting blocks 3; and limiting plates 16 are fixedly connected to the left and right sides of the outside of the mounting frame 1, limiting the sliding trajectory of the mounting frame 17, ensuring smooth front-to-back sliding of the mounting frame, and preventing... The mounting frame slides excessively to protect the cleaning conveyor 18 and other components. The mounting bracket 17 is slidably connected to the outside of the limiting plate 16 to limit the sliding trajectory of the cleaning conveyor 18 and ensure its smooth left and right sliding. This drives the air jet nozzle to achieve comprehensive cleaning of the suction nozzle. The front and rear sides of the mounting bracket 17 are fixedly connected to the sliding guide rails 18. The cleaning conveyor 19 is installed on the outside of the sliding guide rails 18, which drives the air jet nozzle to slide left and right along the sliding guide rails 18 and slide back and forth with the mounting bracket 17 to achieve comprehensive cleaning of the suction nozzle. The bottom of the cleaning conveyor 19 is fixedly connected to the air jet nozzle 20, which concentrates the cleaning airflow to spray onto the surface and inside of the suction nozzle. Impurities are removed by the impact force of the high-pressure airflow, achieving efficient cleaning of the suction nozzle. An anti-backflow mechanism is installed on the rear side of the mounting frame 1. The adaptive clamping mechanism includes a connecting frame 4, which fixes and supports the rotating plate 5, ensuring the rotating plate 5 rotates flexibly, limiting the rotation range, and preventing over-rotation. The connecting frame 4 is externally fixedly connected to the outside of the mounting block 3. Multiple rotating plates 5 are rotatably connected to the outside of the connecting frame 4, connecting the connecting frame 4 and the connecting frame 6, transmitting force. Through its own rotation, it drives the opening and closing of the connecting frame 6, the damping slider 7, and the clamping plate 8, realizing the clamping and releasing of the suction nozzle. The rotating plate 5 is rotatably connected to the outside of the connecting frame 6, and the connecting frame 6 is externally fixedly connected to the outside of the connecting frame 6. The clamping plate 8 transmits force and drives it to open and close. Through damping, it buffers the clamping impact and speed, protects the suction nozzle, and prevents damage. The clamping plate 8 is slidably connected to the outside of the damping slider 7. A reset assembly is installed on the outside of the clamping plate 8. The reset assembly includes a slide groove 9, which is opened on the outside of the clamping plate 8. A fixing rod 10 is fixedly connected to the outside of the slide groove 9, which limits the extension and retraction trajectory of the reset spring 11 and prevents the spring from deforming or deviating. It provides stable support for the reset spring 11, ensuring that the spring can continuously provide reset force and realize the automatic reset of the clamping plate 8. See Figures 2 to 4 A return spring 11 is sleeved on the outside of the fixed rod 10 to provide continuous return force to the damping slider 7 and the clamping plate 8, ensuring that the clamping plate 8 is closed under normal conditions and firmly clamps the suction nozzle; it realizes the automatic reset of the clamping plate 8, which facilitates the removal and placement of the suction nozzle. Limiting components are installed on both the front and rear sides of the interior of the mounting frame 1. The limiting components include limiting grooves 12, which accommodate the mounting rod 13, tension spring 12 and the end of the support rod 2, limiting the sliding trajectory of the support rod 2 to ensure smooth sliding and no deviation. The exterior of the limiting groove 12 is opened inside the mounting frame 1, and the interior of the limiting groove 12 is fixed. A mounting rod 13 is fixedly connected to provide support and guidance for the tension spring 14, limiting the spring's extension and contraction trajectory and preventing spring deformation. The tension spring 14 is sleeved on the outside of the mounting rod 13. The inside of the support rod 2 is slidably connected to the outside of the mounting rod 13. One end of the reset spring 11 is fixedly connected to the outside of the damping slider 7, and the other end of the reset spring 11 is fixedly connected to the outside of the slide groove 9. Limiting rods 31 are slidably connected to the front and rear sides of the outside of the mounting frame 1. Multiple limiting grooves 32 are opened on the outside of the mounting frame 1, and the outside of 31 is locked with the outside of 2.

[0025] See Figures 3 to 5The backflow prevention mechanism includes an air box 21, which stores clean airflow, buffers airflow pressure, and ensures stable airflow output; it also prevents airflow carrying impurities from flowing back, protecting the pump body 22. The air box 21 is externally and fixedly connected to the rear side of the mounting frame 1. The pump body 22 is fixedly connected to the top of the air box 21, providing high-pressure clean airflow for cleaning operations. It draws in and compresses air (or clean gas) and delivers it to the air box 21. The output end of the pump body 22 is fixedly connected to a delivery pipe 23, which delivers the high-pressure clean airflow in the air box 21 to the mounting housing 24, the cleaning conveyor 19, and the nozzle. It features high pressure resistance, corrosion resistance, and good flexibility, adapting to cleaning conditions and the sliding motion of the cleaning conveyor 19. The external connection of the conveying pipe 23 is fixed to the mounting housing 24, which transmits the clean airflow and ensures that the airflow is smoothly delivered to the cleaning conveyor 18. It prevents the backflow of airflow carrying impurities, protecting the pump body 22, the conveying pipe 23, and the cleaning conveyor 18. The front of the mounting housing 24 is fixedly connected to a cross-shaped placement plate 25, which fixes the housing 26, supports the sliding rod 27, the mounting spring 28, and the sealing assembly, ensuring that each anti-backflow component is accurately installed and operates sensitively. The cross-shaped placement plate 25 is externally fixedly connected to a placement housing 26. Inside the placement housing 26, a sliding rod 27 is slidably connected, connecting a mounting spring 28 and a sealing plate 29. The spring force is transmitted to drive the sealing plate 29 to slide, realizing the contact and separation of the sealing plate 29 and the sealing ring 30, switching between airflow delivery and anti-backflow sealing states. The sliding rod 27 is externally fitted with a mounting spring 28, and a sealing assembly is externally fixedly connected to the sliding rod 27. The sealing assembly includes a sealing plate 29, which, by tightly contacting the sealing ring 30, achieves a seal inside the mounting housing 24, preventing the backflow of airflow carrying impurities and protecting equipment components. The sealing plate 29 is externally fixedly connected to the rear side of the sliding rod 27. See Figures 5 to 7 A sealing ring 30 is fixedly connected to the rear side of the mounting housing 24, which fits tightly with the sealing plate 29 to enhance the sealing performance, fill the sealing gap, achieve all-round sealing, and completely prevent the backflow of air carrying impurities. The outer side of the sealing plate 29 fits with the outer side of the sealing ring 30. The outer side of the sliding rod 27 is slidably connected to the inside of the mounting housing 24. The outer side of the sealing plate 29 is slidably connected to the inside of the mounting housing 24. A nozzle placement plate 15 is fixedly connected to the adjacent side of the two clamping plates 8 to place the pick-and-place machine nozzle to be cleaned, ensuring that the nozzle is accurately positioned and placed stably to avoid shaking or displacement. The outer bottom end of the jet nozzle 20 contacts the outer top end of the nozzle placement plate 15.

[0026] The working principle of the pick-and-place machine nozzle cleaning robot based on vision recognition provided by this invention is as follows: By placing the nozzle placement plate 15 between the clamping plates 8, the nozzle placement plate 15 applies a compressive force to the clamping plates 8. The clamping plates 8 drive the damping slider 7 to move synchronously. The damping slider 7 slides inside the slide groove 9 and simultaneously slides along the fixed rod 10. The return spring 11 is compressed and stores elastic potential energy. When the clamping plates 8 move, they drive the rotating plate 5 to rotate synchronously. The rotating plate 5 drives the connecting frame 6 to move synchronously. The connecting frame 6 drives the damping slider 7 to move synchronously. This achieves the adaptive opening and closing of the clamping plates 8, automatically fitting nozzle placement plates 15 of different specifications and arrangements. When the placement plate is in place, the return spring 11 elastically returns to its original position. The damping slider 7 is pushed to slide in the opposite direction, and the damping slider 7 drives the clamping plate 8 to move synchronously. The clamping plate 8 fits tightly with the nozzle placement plate 15, completing the clamping and fixing of the nozzle placement plate 15. According to the size of the nozzle placement plate 15, the position of the support rod 2 is adjusted. The support rod 2 is subjected to the squeezing force of the placement plate and slides along the mounting rod 13 inside the limiting groove 12. The tension spring 14 is compressed and stores elastic potential energy. When the placement plate is placed in place, the tension spring 14 elastically resets and pushes the support rod 2 to slide in the opposite direction, so that the support rod 2 fits with the side of the placement plate, further fixing the nozzle placement plate 15 and preventing the placement plate from shifting or shaking.

[0027] When the pump body 22 is started, it pressurizes the gas in the gas box 21 and pumps it into the delivery pipe 23. The airflow pressure pushes the sliding rod 27 of the anti-backflow mechanism to slide along the inside of the housing 26. The sliding rod 27 drives the sealing plate 29 to move synchronously, and the sealing plate 29 separates from the sealing ring 30. The mounting spring 28 is compressed and stores elastic potential energy, and the gas is smoothly delivered to the nozzle 20 through the delivery pipe 23. When the pump body 22 stops running or the airflow pressure disappears, the mounting spring 28 elastically resets, pushing the sliding rod 27 to slide in the opposite direction, and the sealing plate 29 and the sealing ring 30 separate. Ring 30 is re-attached, closing the channel of delivery pipe 23 to prevent gas backflow. After the cleaning operation is completed, pump body 22 and cleaning conveyor 19 are stopped in sequence, and cleaning conveyor 19 is reset to its initial position. At this time, the nozzle placement plate 15 no longer applies pressure to clamping plate 8. Reset spring 11 is elastically reset, pushing clamping plate 8 to separate from nozzle placement plate 15. Tension spring 14 is elastically reset, pushing support rod 2 to separate from nozzle placement plate 15, releasing the clamping and limiting of nozzle placement plate 15, and nozzle placement plate 15 can be removed from the device.

[0028] After the cleaning operation is completed, stop the operation of the pump body 22 and the cleaning conveyor 19 in sequence, and reset the cleaning conveyor 19 to the initial position. At this time, first pull the limit lever 31 out of the limit groove 32 to release the locking state of the support rod 2. The suction nozzle placement plate 15 no longer applies pressure to the clamping plate 8. The return spring 11 returns to its elastic state, pushing the clamping plate 8 and the suction nozzle placement plate 15 to separate. The tension spring 14 returns to its elastic state, pushing the support rod 2 and the suction nozzle placement plate 15 to separate, releasing the clamping and limiting of the suction nozzle placement plate 15. The suction nozzle placement plate 15 can then be removed from the device.

[0029] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A visual recognition-based nozzle cleaning robot for pick-and-place machines, characterized in that, include: The mounting frame (1) has a support rod (2) slidably connected to the left and right sides inside. The support rod (2) has multiple mounting blocks (3) fixedly connected to the outside. The mounting blocks (3) have an adaptive clamping mechanism installed on the outside. The mounting frame (1) has a limit plate (16) fixedly connected to the left and right sides outside. The limit plate (16) has a mounting bracket (17) slidably connected to the outside. The mounting bracket (17) has a sliding guide rail (18) fixedly connected to the front and rear sides outside. The sliding guide rail (18) has a cleaning conveyor (19) installed on the outside. The bottom of the cleaning conveyor (19) has a jet nozzle (20) fixedly connected to the outside. The mounting frame (1) has an anti-backflow mechanism installed on the rear side outside. The adaptive clamping mechanism includes a connecting frame (4), which is fixedly connected to the outside of the mounting block (3). Multiple rotating plates (5) are rotatably connected to the outside of the connecting frame (4). A connecting frame (6) is rotatably connected to the outside of the rotating plates (5). A damping slider (7) is fixedly connected to the outside of the connecting frame (6). A clamping plate (8) is slidably connected to the outside of the damping slider (7). A reset component is installed on the outside of the clamping plate (8). Limiting components are installed on both the front and rear sides of the inside of the mounting frame (1).

2. The visual recognition-based nozzle cleaning robot for a pick-and-place machine according to claim 1, characterized in that, The reset assembly includes a slide (9), the outside of which is opened inside the clamp (8), and a fixing rod (10) is fixedly connected to the outside of the slide (9), and a reset spring (11) is sleeved on the outside of the fixing rod (10).

3. The visual recognition-based nozzle cleaning robot for a pick-and-place machine according to claim 2, characterized in that, One end of the return spring (11) is fixedly connected to the outside of the damping slider (7), and the other end of the return spring (11) is fixedly connected to the outside of the slide groove (9).

4. A visual recognition-based nozzle cleaning robot for a pick-and-place machine according to claim 3, characterized in that, The limiting component includes a limiting groove (12), the outside of which is opened inside the mounting frame (1), and a mounting rod (13) is fixedly connected inside the limiting groove (12). A tension spring (14) is sleeved on the outside of the mounting rod (13), and the inside of the support rod (2) is slidably connected to the outside of the mounting rod (13).

5. A visual recognition-based nozzle cleaning robot for a chip mounter according to claim 1, characterized in that, The mounting frame (1) has slidably connected limit rods (31) on both the front and rear sides. The mounting frame (1) has multiple limit grooves (32) on its exterior. The exterior of the (31) is locked to the exterior of the (2).

6. A visual recognition-based nozzle cleaning robot for a pick-and-place machine according to claim 5, characterized in that, The anti-backflow mechanism includes an air box (21), which is fixedly connected to the rear side of the mounting frame (1). A pump body (22) is fixedly connected to the top of the air box (21), and a delivery pipe (23) is fixedly connected to the output end of the pump body (22).

7. A visual recognition-based nozzle cleaning robot for a pick-and-place machine according to claim 6, characterized in that, The conveying pipe (23) is fixedly connected to the outside of the mounting housing (24), and the front side of the inside of the mounting housing (24) is fixedly connected to the cross placement plate (25). The outside of the cross placement plate (25) is fixedly connected to the placement housing (26). The inside of the placement housing (26) is slidably connected to the sliding rod (27). The outside of the sliding rod (27) is fitted with a mounting spring (28). The outside of the sliding rod (27) is fixedly connected to a sealing assembly.

8. A visual recognition-based nozzle cleaning robot for a pick-and-place machine according to claim 1, characterized in that, The sealing assembly includes a sealing plate (29), the outer side of which is fixedly connected to the outer rear side of the sliding rod (27), and a sealing ring (30) is fixedly connected to the inner rear side of the mounting housing (24). The outer side of the sealing plate (29) is in contact with the outer side of the sealing ring (30).

9. A visual recognition-based nozzle cleaning robot for a pick-and-place machine according to claim 1, characterized in that, The sliding rod (27) is externally slidably connected to the inside of the mounting housing (24), and the sealing plate (29) is externally slidably connected to the inside of the mounting housing (24).

10. A visual recognition-based nozzle cleaning robot for a pick-and-place machine according to claim 1, characterized in that, A nozzle placement plate (15) is fixedly connected to one side of the two clamps (8), and the outer bottom end of the jet nozzle (20) is in contact with the outer top end of the nozzle placement plate (15).

Images