Rotary picking mechanism and angle positioning assembly

Abstract

The utility model discloses an angle positioning assembly and a rotary picking mechanism, and the angle positioning assembly comprises a connecting frame. The second motor is fixed to the connecting frame, and the second transmission gear is fixedly connected with a rotating shaft of the second motor. The third transmission gear is in meshed connection with the second transmission gear; the fixing block comprises a first fixing part and a second fixing part. The second fixing part is located above the second motor, and a rotating shaft of the second motor penetrates through the second fixing part. The suction assembly comprises a fixing rod and a suction nozzle. One end of the fixing rod penetrates through the second fixing part and is connected with the third transmission gear; the suction nozzle is located at the other end of the fixing rod. The second induction sheet is coaxially and fixedly connected with the second transmission gear; and the second sensor senses the angle change of the second sensing sheet. The controller is connected with the second motor and the second sensor and can control the second motor to rotate according to the angle value of the second sensor, and 360-degree rotation of the suction nozzle in the horizontal plane is achieved.

Description

Technical Field

[0001] The present application relates to the field of communication technology, and in particular to a rotating pickup mechanism and an angle positioning component. Background Art

[0002] Optical devices are optoelectronic devices that can convert electrical signals into optical signals or vice versa in optical communication systems. They are the heart of optical transmission systems. After the optical devices are packaged and manufactured, they need to go through a power-on test to test whether the various optoelectronic indicators of the optical devices meet the requirements. Only qualified optical devices can enter the next process.

[0003] As a component that directly contacts the chip during assembly and testing, the nozzle for picking up the chip plays an important role. In the testing phase of the optical communication industry, due to process requirements, there are high requirements for the chip positioning accuracy and the contact pressure between the nozzle and the chip.

[0004] When LD chips are mounted, they need to be picked up by a picking mechanism, which may cause problems such as inaccurate picking position, unstable speed, and uncontrollable angle. Utility Model Content

[0005] The present application provides a rotary picking mechanism and an angle positioning component to ensure angle accuracy and stable speed during chip picking.

[0006] In order to solve the above technical problems, the embodiments of the present application disclose the following technical solutions:

[0007] On the one hand, the embodiment of the present application discloses an angle positioning assembly, including:

[0008] Connecting frame;

[0009] A second motor is fixedly connected to the connecting frame;

[0010] A second transmission gear, fixedly connected to the rotating shaft of the second motor;

[0011] a third transmission gear meshing with the second transmission gear;

[0012] Fixed block, including:

[0013] a first fixing portion;

[0014] a second fixing portion, located above the second motor, and a rotating shaft of the second motor passes through the second fixing portion;

[0015] Suction components, including:

[0016] A fixing rod, one end of which passes through the second fixing portion and is connected to the third transmission gear;

[0017] A suction nozzle, located at the other end of the fixing rod;

[0018] Angle sensing components, including:

[0019] A second induction plate, coaxially and fixedly connected to the second transmission gear;

[0020] A second sensor is fixedly connected to the connecting frame, and the second sensor senses an angle change of the second sensor sheet;

[0021] The controller is connected to the second motor and the second sensor, and the controller can control the rotation of the second motor according to the angle value of the second sensor.

[0022] On the other hand, an embodiment of the present application discloses a rotary picking mechanism, including an angle positioning component.

[0023] Compared with the prior art, the present invention has the following advantages:

[0024] The present application discloses an angle positioning assembly and a rotating pickup mechanism, wherein the angle positioning assembly comprises: a connecting frame. A second motor is fixed on the connecting frame, and a second transmission gear is fixedly connected to the rotating shaft of the second motor. The third transmission gear is meshedly connected to the second transmission gear; the fixing block comprises: a first fixing portion and a second fixing portion. The second fixing portion is located above the second motor, and the rotating shaft of the second motor passes through the second fixing portion. The suction assembly comprises: a fixing rod and a suction nozzle. One end of the fixing rod passes through the second fixing portion and is connected to the third transmission gear; the suction nozzle is located at the other end of the fixing rod. The angle sensing assembly comprises a second sensing sheet and a second sensor; the second sensing sheet is coaxially fixedly connected to the second transmission gear; the second sensor senses the angle change of the second sensing sheet. The controller is connected to the second motor and the second sensor, and the controller can control the rotation of the second motor according to the angle value of the second sensor to realize 360° rotation of the suction nozzle in the horizontal plane. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the present disclosure, the following briefly introduces the drawings required to be used in some embodiments of the present disclosure. Obviously, the drawings described below are only drawings of some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can also be obtained based on these drawings. In addition, the drawings described below can be regarded as schematic diagrams, and are not limitations on the actual size of the product involved in the embodiments of the present disclosure, the actual process of the method, the actual timing of the signal, etc.

[0026] Figure 1 It is a structural schematic diagram of a rotating pickup mechanism provided according to some embodiments of the present disclosure;

[0027] Figure 2It is an exploded schematic diagram of a rotating pickup mechanism provided according to some embodiments of the present disclosure;

[0028] Figure 3 It is an exploded schematic diagram of a planar positioning assembly provided according to some embodiments of the present disclosure;

[0029] Figure 4 A schematic diagram of a first angle structure of an angle positioning assembly provided according to some embodiments of the present disclosure;

[0030] Figure 5 A schematic diagram of a second angle structure of an angle positioning assembly provided according to some embodiments of the present disclosure;

[0031] Figure 6 An exploded schematic diagram of an angle positioning assembly provided according to some embodiments of the present disclosure;

[0032] Figure 7 A partial schematic diagram of an angle positioning component provided according to some embodiments of the present disclosure;

[0033] Figure 8 A structural diagram of a fixing block provided according to some embodiments of the present disclosure Figure 1 ;

[0034] Fig. 9 A structural diagram of a fixing block provided according to some embodiments of the present disclosure Figure 2 ;

[0035] Fig.10 A schematic structural diagram of a connecting frame provided according to some embodiments of the present disclosure. DETAILED DESCRIPTION

[0036] Some embodiments of the present disclosure will be described in detail below in conjunction with the accompanying drawings. However, the described embodiments are only a part of the embodiments of the present disclosure, rather than all of the embodiments. Based on the embodiments provided by the present disclosure, all other embodiments obtained by ordinary technicians in this field are within the scope of protection of the present disclosure.

[0037] Unless the context requires otherwise, throughout the specification and claims, the term "including" is interpreted as open and inclusive, that is, "including, but not limited to"; the terms "first" and "second" cannot be understood to indicate or imply relative importance or indicate an upper limit of quantity; the term "plurality" means two or more; the term "connection" should be understood in a broad sense, for example, "connection" can be a fixed connection, a detachable connection, or an integral connection, and can be directly connected or indirectly connected through an intermediate medium; the use of the terms "suitable for" or "configured to" means open and inclusive language, which does not exclude devices that are suitable for or configured to perform additional tasks or steps; the terms "parallel", "vertical", "same", "consistent", "level" and other descriptions are not limited to absolute mathematical theoretical relationships, but also include acceptable error ranges generated in practice, and also include differences based on the same design concept but due to manufacturing reasons. In the absence of more restrictions, the elements defined by the sentence "including one..." do not exclude the existence of other identical elements in the circuit structure, article or device including the elements.

[0038] In the process of integrated circuit packaging and patching, a chip material area and a patching area are set under the XYZ three-axis motion robot arm of the patch machine. Before patching, the nozzle at the front end of the motion robot arm picks up the chip from the chip material box or the blue film. When picking, the XY axis of the robot arm first moves to the specified position, and the Z axis drives the nozzle to start moving downward. When the nozzle approaches the chip in the chip material box, the Z axis of the robot arm slows down and moves slowly. When the front end of the nozzle contacts the upper surface of the chip, the hollow negative pressure solenoid valve of the nozzle is opened, and the hollow of the nozzle becomes a negative pressure state, the chip is adsorbed to the front end of the nozzle, and the Z axis is lifted up, and the picking is completed.

[0039] The chips picked up are generally rectangular or square pieces. The chips are arranged in a straight line in the material box, and there are angle differences between the chips. Some chips are even placed 180° in the wrong reverse direction. After the nozzle absorbs the chip, the orientation of the chip needs to be adjusted. The existing placement head has a limited rotation adjustment angle and cannot achieve a full range of angles.

[0040] Figure 1 It is a schematic structural diagram of a rotating pickup mechanism provided according to some embodiments of the present disclosure. Figure 2 FIG. 1 is an exploded schematic diagram of a rotating pickup mechanism provided according to some embodiments of the present disclosure. Figure 1 and Figure 2 As shown, the rotary pickup mechanism provided in the embodiment of the present application may include: a plane positioning component 100. The rotary pickup mechanism provided in the embodiment of the present application may include: an angle positioning component 200. The plane positioning component 100 may drive the angle positioning component 200 to move in the up and down directions.

[0041] In some embodiments, the planar positioning assembly 100 may include: a first motor 110. The first motor 110 may provide power for the rotation pickup mechanism to move in the up and down directions.

[0042] The planar positioning assembly 100 may include a fixing frame 120 . The first motor 110 may be fixed to the fixing frame 120 , so that the first motor 110 is connected to the fixing frame 120 .

[0043] The planar positioning assembly 100 may include: a first transmission gear 130. The first transmission gear 130 is connected to the rotating shaft of the first motor 110, and the rotation of the rotating shaft of the first motor 110 can drive the first transmission gear 130 to move axially.

[0044] The plane positioning assembly 100 may include: a guide rail assembly 160. The guide rail assembly 160 may be connected to the fixing frame 120. The guide rail assembly 160 may be slidably connected relative to the fixing frame 120. The guide rail assembly 160 may include a transmission rack 161, and the transmission rack 161 may be engaged with the first transmission gear 130. With the rotation of the first transmission gear 130, the transmission rack 161 is driven to make the guide rail assembly 160 move in the up and down direction.

[0045] The angle positioning assembly 200 may be fixedly connected to the guide rail assembly 160 , and the guide rail assembly 160 may drive the angle positioning assembly 200 to move in the up and down directions.

[0046] In some embodiments, the planar positioning assembly 100 may include a telescopic fixing member 140. One end of the telescopic fixing member 140 is connected to the fixing frame 120; the other end of the telescopic fixing member 140 is connected to the guide rail assembly 160. The telescopic fixing member 140 can be telescoped as the first motor 110 rotates.

[0047] The telescopic fixing member 140 exerts an upward pulling force on the guide rail assembly 160, which can prevent the guide rail assembly 160 from sliding downward due to its own weight. The two ends of the telescopic fixing member 140 are telescopic, and when the guide rail assembly 160 moves downward, the telescopic fixing member 140 extends, which can ensure that the mutual movement between the guide rail assembly 160 and the fixing frame 120 is not restricted.

[0048] In some embodiments, the planar positioning assembly may include a position sensing assembly 150 . The position sensing assembly 150 may be used to sense the relative position of the guide rail assembly 160 and the fixing frame 120 .

[0049] The position sensing component 150 may include: a first sensor 151. The first sensor 151 may be connected to the fixing frame 120. The first sensor 151 does not move relative to the fixing frame 120.

[0050] The position sensing assembly 150 may include: a first sensing sheet 152. The first sensor 151 may be connected to the guide rail assembly 160. The first sensor 151 does not move relative to the guide rail assembly 160.

[0051] The first sensor 151 can sense the distance between the first sensor sheet 152 and the first sensor 151 . When the guide rail assembly 160 moves relative to the fixing frame 120 , the sensing distance between the first sensor 151 and the first sensor sheet 152 changes.

[0052] In some embodiments, the rotary pickup mechanism may include a controller. The controller may be connected to the first motor 110, and the controller may control the rotation of the first motor 110 to achieve control of the guide rail assembly in the up and down directions.

[0053] The controller can control the position of the guide rail assembly 160 in the up and down directions through the feedback of the position sensing assembly 150 , and can ensure that the initial position of the guide rail assembly 160 is consistent.

[0054] Figure 3 FIG. 1 is a schematic diagram of an exploded view of a planar positioning assembly provided according to some embodiments of the present disclosure. Figure 3 As shown, in some embodiments of the present application, the fixing frame 120 may include: a first arm 421. The first motor 110 may be fixedly connected to the first arm 121. The first motor 110 may be disposed on one side of the first arm 121, and the first transmission gear 130 may be disposed on the other side of the first arm 121. The rotating shaft of the first motor 110 passes through the through hole of the first arm 421 and is connected to the first transmission gear 130.

[0055] The fixing frame 120 may include: a second arm 122. The second arm 122 is connected to the first arm 121. In some embodiments, the second arm 122 is vertically arranged to the first arm 121. One end of the telescopic fixing member 140 is connected to the second arm 122.

[0056] The guide rail assembly 160 may include a transmission rack 161, which may be engaged with the first transmission gear 130. As the first transmission gear 130 rotates, the transmission rack 161 is driven to move the guide rail assembly 160 in the up and down directions.

[0057] The guide rail assembly 160 may include a guide rail 162. The guide rail 162 may be fixedly connected to the first support arm 121. The first support arm 121 supports the guide rail.

[0058] The guide rail assembly 160 may include a slider 163. The slider 163 is connected to the guide rail 162, and the slider 163 can move along the guide rail 162. One end of the telescopic fixing member 140 can be connected to the second arm 122, and the other end of the telescopic fixing member 140 can be connected to the slider 163. The angle positioning assembly 200 can be connected to the slider 163, so that the angle positioning assembly 200 moves with the slider 163.

[0059] In some embodiments, the guide rail assembly 160 may include a fixing plate 164. The fixing plate 164 may be fixedly connected to the slider 163. One end of the telescopic fixing member 140 may be connected to the second arm 122, and the other end of the telescopic fixing member 140 may be connected to the fixing plate 164. The angle positioning assembly 200 may be connected to the fixing plate 164 so that the angle positioning assembly 200 moves with the slider 163.

[0060] Figure 4 This is a schematic diagram of the first angle structure of an angle positioning assembly provided according to some embodiments of the present disclosure. Figure 5 A schematic diagram of the second angle structure of an angle positioning assembly provided according to some embodiments of the present disclosure. Figure 6 A schematic diagram of an exploded view of an angle positioning assembly provided according to some embodiments of the present disclosure. Figure 7 FIG. 1 is a partial schematic diagram of an angle positioning assembly provided according to some embodiments of the present disclosure. Figure 4 , Figure 5 , Figure 6 , Figure 7 As shown, the angle positioning assembly 200 may include a connecting frame 210. The connecting frame 210 may be connected to the slider 163 so that the connecting frame 210 moves with the slider 163.

[0061] The connecting frame 210 may be connected to the fixing plate 164 so that the connecting frame 210 moves along with the sliding block 163 .

[0062] The angle positioning assembly 200 may include: a second motor 220. The second motor 220 is located at one side of the connecting frame 210, and a rotating shaft of the second motor 220 passes through the connecting frame 210 to the other side of the connecting frame 210.

[0063] The angle positioning assembly 200 may include: a second transmission gear 260. The second transmission gear 260 is connected to the second motor 220, and the rotating shaft of the second motor 220 can drive the second transmission gear 260 to rotate.

[0064] The angle positioning assembly 200 may include a third transmission gear 290, and the third transmission gear 290 may be meshed with the second transmission gear 260. When the second transmission gear 260 rotates, the third transmission gear 290 is driven to rotate.

[0065] The angle positioning assembly 200 may include a suction assembly 230. The suction assembly 230 is connected to the third transmission gear 290 via a fixing rod 231. The fixing rod of the suction assembly 230 and the third transmission gear 290 are coaxially arranged.

[0066] The angle positioning assembly 200 may include an elastic member 270. The elastic member 270 may be located above the third transmission gear 290. The elastic member 270 may be a spring, which is sleeved on the outside of the fixing rod to absorb the force of the fixing rod and reduce the force when the nozzle contacts the controlled object.

[0067] In some embodiments, the suction assembly 230 may include an upper limit plate 233 and a lower limit plate 234. The elastic member 270 is located between the upper limit plate 233 and the lower limit plate 234. The lower limit plate 234 may be fixedly connected to the third transmission gear 290.

[0068] The lower limiting plate 234 may be fixedly connected to the fixing rod 231 so that the lower limiting plate 234 and the fixing rod 231 do not move relative to each other.

[0069] The upper limit plate 233 is sleeved on the outside of the fixing rod 231 , and the upper limit plate 233 can move up and down along the fixing rod 231 .

[0070] The suction assembly 230 may include a suction nozzle 232. The suction nozzle 232 is located at an end of the fixing rod 231 away from the elastic member. The suction nozzle 232 may be used to absorb the controlled object, which may be a semiconductor chip.

[0071] The first motor 110 in the plane positioning assembly 100 drives the first transmission gear 130 to rotate, so that the transmission rack 161 can move with the first transmission gear 130, and the slider 163 slides downward along the guide rail 162 to make the suction nozzle 232 approach the controlled object. When the suction nozzle 232 contacts the controlled object, the controlled object forms an upward force on the suction assembly 230. The force is transmitted upward along the fixed rod 231 and is transmitted to the elastic member after passing through the lower limit plate 234. The elastic member can buffer the force received. When the force is greater than the limit value, the elastic member supports the upper limit plate 233 to move upward.

[0072] The angle positioning assembly 200 may include a pressing sheet 240. The pressing sheet 240 is located above the upper limit plate 233 and can limit the position of the upper limit plate.

[0073] In some embodiments, one end of the pressing sheet 240 is fixed, and the other end is pressed on the upper limit plate 233. The pressing sheet 240 is provided with an avoidance hole, and the fixing rod 231 passes through the bottom of the pressing sheet through the avoidance hole. The avoidance hole can be an open structure.

[0074] One end of the pressing sheet 240 is fixed, and the other end of the pressing sheet 240 is movable. When the fixing rod 231 is subjected to an upward force, the movable end of the pressing sheet 240 bends upward. The deformation of the pressing sheet 240 can reduce the force between the controlled object and the suction nozzle, effectively preventing the controlled object from being damaged by excessive force.

[0075] The angle positioning assembly 200 may include a lower stopper 235 . The lower stopper 235 may be used to limit the downward movement of the fixing rod 231 relative to the connecting frame 210 .

[0076] The angle positioning assembly 200 may include a fixing block 250. One side of the fixing block 250 is connected to the connecting frame 210. The fixing block 250 may be used to fix the lower stopper 235. The fixing block 250 may be used to fix the pressing sheet 240.

[0077] In some embodiments provided in the present application, the third transmission gear 290 can be driven to rotate by the second motor 220, thereby driving the fixing rod 231 of the suction component 230 to rotate around its own central axis, so as to realize 360° rotation of the suction nozzle 232 in the horizontal direction.

[0078] The angle positioning component 200 may include: an angle sensing component, wherein the angle sensing component may be used to monitor the rotation angle of the second transmission gear, and the angle sensing component may be used to monitor the rotation angle of the third transmission gear.

[0079] The angle sensing component may include: a second sensor 282. The second sensor 282 may be connected to the connecting frame 210. The second sensor 282 does not move relative to the connecting frame 210. The second sensor 282 does not move relative to the second motor 220.

[0080] The angle sensing component may include: a second sensing sheet 281. The second sensing sheet 281 may be fixedly connected to the second transmission gear 260. The second sensing sheet 281 does not move relative to the second transmission gear 260. The second sensing sheet 281 may be coaxially arranged with the second transmission gear 260.

[0081] The second sensor 282 can sense the rotation angle of the second sensing plate 281 . When the second transmission gear 260 moves relative to the fixed rod, the sensing angle of the second sensor 282 to the second sensing plate 281 changes.

[0082] In some embodiments, the second sensing plate 281 may be fixedly connected to the third transmission gear 290. The second sensing plate 281 does not move relative to the third transmission gear 290.

[0083] The second sensor 282 can sense the rotation angle of the second sensing plate 281 . When the third transmission gear 290 moves relative to the fixed rod, the sensing angle of the second sensor 282 to the second sensing plate 281 changes.

[0084] Figure 8 A structural diagram of a fixing block provided according to some embodiments of the present disclosure Figure 1 . Fig. 9 A structural diagram of a fixing block provided according to some embodiments of the present disclosure Figure 2 .like Figure 8 and Fig. 9 As shown, in some embodiments, the fixing block 250 may include: a first fixing portion 251. One end of the first fixing portion may be connected to the connecting frame 210 through a through hole. In some embodiments, the first fixing portion 251 may include a shielding portion 2511 and a bent fixing portion 2512 that are relatively bent. Among them, the shielding portion 2511 is located on one side of the suction nozzle assembly 230. In some embodiments, the shielding portion 2511 and the second motor 220 are respectively located on both sides of the suction nozzle assembly 230. One end of the shielding portion 2511 may be connected to the connecting frame 210, and the other end of the shielding portion 2511 may be connected to the bent fixing portion 2512.

[0085] The bent fixing portion 2512 is located at one side of the shielding portion 2511, and the fixing block 250 may be provided with a stop hole 2513. One end of the lower stop member 235 passes through the stop hole 2513, and the other end of the lower stop member 235 is connected to the connecting frame 210 to fix the lower stop member 235.

[0086] The third transmission gear 290 may be located above the shielding portion 2511. The fixing block 250 may include a second fixing portion 252. The second fixing portion 252 is bent relative to the shielding portion 2511. One end of the second fixing portion 252 may be connected to the shielding portion 2511. The second fixing portion 252 may be located above the shielding portion 2511.

[0087] The stop hole 2513 passes through the bent fixing portion 2512 and the shielding portion 2511, and the stop hole 2513 is connected to the second transmission hole 2522, so that the lower stop member 235 enters the second transmission hole 2522 through the stop hole 2513, so that the protrusion of the fixing rod is arranged above the lower stop member 235, thereby achieving the purpose of limiting the fixing rod.

[0088] The second fixing part 252 may be located below the second transmission gear 260 and the third transmission gear 290. The second fixing part 252 may be provided with a first transmission through hole 2521, and the rotating shaft of the second motor 220 passes through the first transmission through hole 2521 and is connected to the second transmission gear 260. The second fixing part 252 may be provided with a second transmission through hole 2522, and the fixing rod passes through the second transmission through hole 2522 and is connected to the second transmission gear 260.

[0089] In some embodiments, the first transmission through hole 2521 may be connected to the second transmission through hole 2522. The first transmission through hole 2521 may not be connected to the second transmission through hole 2522.

[0090] The fixing block 250 may include a third fixing portion 253. The third fixing portion 253 is bent upward relative to the second fixing portion 252. The third fixing portion 253 is provided with a pressing piece avoiding groove 2531. One end of the pressing piece 240 is embedded in the pressing piece avoiding groove 2531, and one end of the pressing piece 240 is connected to the third fixing portion 253.

[0091] Fig.10 A schematic diagram of a connecting frame provided according to some embodiments of the present disclosure. Fig.10 As shown, the connecting frame 210 may include: a first connecting portion 211 ; the first connecting portion 211 may be fixedly connected to the planar positioning assembly 100 .

[0092] The connecting frame 210 may include: a second connecting portion 212 ; one end of the second connecting portion 212 may be fixedly connected to the first connecting portion 211 .

[0093] The second connection part 212 is arranged perpendicular to the first connection part 211. The second connection part 212 may be provided with a stop fixing hole 2121. One end of the lower stop member 235 passes through the stop through hole 2513, and the other end of the lower stop member 235 is inserted into the stop fixing hole 2121 to fix the lower stop member 235.

[0094] The connecting frame 210 may include: a third connecting portion 213; the third connecting portion 213 and the first connecting portion 211 are respectively located on both sides of the second connecting portion 212. The second motor 220 may be fixedly connected to the third connecting portion 213. The second motor 220 may be fixedly connected to the second connecting portion 212.

[0095] In some embodiments provided in the present application, the controller may be connected to the second motor and the angle sensing component. The controller controls the rotation angle of the second motor by receiving the angle value of the angle sensing component to achieve 360° control of the nozzle. An upper limit plate 233 and a lower limit plate 234 are provided on the fixed rod, and the elastic member 270 is located between the upper limit plate 233 and the lower limit plate 234. When the nozzle contacts the controlled object, an interaction force is generated, and the elastic member 270 is compressed to reduce the pressure generated between the nozzle and the controlled object.

[0096] Since the above embodiments are all described by citing and combining with other embodiments, different embodiments have the same parts, and the same and similar parts between the embodiments in this specification can be referred to each other. No further detailed description is given here.

Claims

1. An angle positioning assembly, characterized in that: include: Connecting frame; A second motor is fixedly connected to the connecting frame; A second transmission gear, fixedly connected to the rotating shaft of the second motor; a third transmission gear meshing with the second transmission gear; Fixed block, including: a first fixing portion; The second fixing part is located above the second motor, and the rotating shaft of the second motor passes through the second fixing part; the suction component includes: A fixing rod, one end of which passes through the second fixing portion and is connected to the third transmission gear; A suction nozzle, located at the other end of the fixing rod; Angle sensing components, including: A second induction plate, coaxially and fixedly connected to the second transmission gear; A second sensor is fixedly connected to the connecting frame, and the second sensor senses an angle change of the second sensor sheet; The controller is connected to the second motor and the second sensor, and the controller can control the rotation of the second motor according to the angle value of the second sensor.

2. The angle positioning assembly according to claim 1, characterized in that: The suction assembly comprises: A lower limit plate, fixedly connected to the fixing rod; An upper limit plate, movably connected to the fixing rod; An elastic member, sleeved on the outside of the fixing rod, and the elastic member is located between the lower limit plate and the upper limit plate; The third transmission gear is located below the lower limiting plate.

3. The angle positioning assembly according to claim 2, characterized in that: include: Tableting; The fixing block includes: a third fixing portion, located above the second fixing portion; The pressing plate is located above the upper limit plate; one end of the pressing plate is fixedly connected to the third fixing portion, and the other end is provided with an avoidance hole, and one end of the fixing rod passes through the pressing plate through the avoidance hole.

4. The angle positioning assembly according to claim 1, characterized in that: The suction assembly comprises: A lower stopper, passing through the fixing block and fixedly connected to the connecting frame; The lower stopper abuts against the protruding portion of the fixing rod.

5. The angle positioning assembly according to claim 4, characterized in that: The second fixing portion includes: a first transmission through hole, through which the rotating shaft of the second motor passes and is connected to the second transmission gear; A second transmission through hole, wherein the fixing rod passes through the second transmission through hole and is connected to the second transmission gear.

6. The angle positioning assembly according to claim 5, characterized in that: The connecting frame comprises: A second connection portion, fixedly connected to the second motor; the second connection portion is provided with a stop fixing hole, and one end of the lower stop member is inserted into the stop fixing hole; The third connecting portion is fixedly connected to the second motor.

7. A rotary pick-up mechanism, characterized in that: include: An angle positioning assembly as claimed in any one of claims 1 to 6.

8. The rotary pick-up mechanism according to claim 7, characterized in that: include: Fixed frame; A first motor is located at one side of the fixing frame; the first motor is connected to the fixing frame; The rotating shaft of the first motor passes through the fixing frame and is connected to the first transmission gear; The guide rail assembly is located on the other side of the fixing frame, and the guide rail assembly includes: A guide rail fixed to the other side of the fixing frame; A slider, slidably connected to the guide rail; A transmission rack, used for fixed connection with the slider, the transmission rack meshing with the first transmission gear; The fixing frame is fixedly connected to the sliding block.

9. The rotary pick-up mechanism according to claim 8, characterized in that: include: A first sensor is fixedly connected to the fixing frame; The first sensing sheet is fixedly connected to the sliding block; the first sensor senses the position of the first sensing sheet.

10. The rotary pick-up mechanism according to claim 9, characterized in that: The controller is connected to the first sensor and the first motor.

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