Crystal taking mechanism

Abstract

The utility model discloses a crystal taking mechanism, and relates to the technical field of semiconductor packaging equipment. The device comprises a swing arm, a rotating assembly, an annular wear-resistant sheet, an up-down assembly and a bearing assembly, a suction nozzle for sucking crystals is arranged at the front end of the swing arm; the rotating assembly is used for driving the swing arm to rotate horizontally, and the swing arm is arranged at the lower end of the rotating assembly. The annular wear-resistant sheet is fixedly sleeved on the rotating assembly; the up-down assembly is used for driving the swing arm to move up and down; the bearing assembly is arranged on the side, facing the rotating assembly, of the up-down assembly and used for clamping the annular wear-resisting piece. When the up-down assembly moves up and down, the bearing assembly clamps the annular wear-resisting piece to drive the swing arm to move up and down. By adopting the technical scheme, the bearing assembly has the advantages that the contact area between the bearing assembly and the annular wear-resistant sheet is large, and the annular wear-resistant sheet is wear-resistant and not easy to deform.

Description

Technical Field

[0001] The utility model relates to the technical field of semiconductor packaging equipment, in particular to a crystal retrieval mechanism. Background Art

[0002] In the packaging process of semiconductor devices such as integrated circuits (ICs) and light-emitting diodes (LEDs), crystal retrieval is an extremely important link. The crystal retrieval process is: first, the glue dispensing mechanism (also called glue dispensing module) dispenses glue on the crystal bonding station of the substrate, and then the crystal retrieval mechanism removes the semiconductor chip from the wafer and transfers it to the crystal bonding station where glue has been dispensed. The crystal retrieval mechanism is mainly divided into a rotating component and an upper and lower component. The existing crystal retrieval mechanism is often provided with a pressure plate on the upper and lower components, and a bearing for clamping the pressure plate is provided on the rotating component so that the swing arm provided on the rotating component can move up and down. However, in order to avoid affecting the rotation of the swing arm, the pressure plate is often set in an arc shape, which has the problems of small contact area and uneven force, resulting in the pressure plate being easily deformed and requiring frequent maintenance and replacement. Utility Model Content

[0003] The utility model aims to provide a crystal retrieval mechanism in view of the defects and shortcomings of the prior art, which has the advantages of large contact area between the bearing assembly and the annular wear-resistant sheet and the annular wear-resistant sheet being wear-resistant and not easy to deform.

[0004] In order to achieve the above-mentioned purpose, the technical solution adopted by the utility model is: a crystal taking mechanism, comprising:

[0005] A swing arm, the front end of which is provided with a suction nozzle for sucking the crystal;

[0006] A rotating assembly, used for driving the swing arm to rotate horizontally, and the swing arm is disposed at the lower end of the rotating assembly;

[0007] An annular wear-resistant sheet, fixedly sleeved on the rotating assembly;

[0008] An upper and lower assembly, used to drive the swing arm to move up and down; and

[0009] A bearing assembly, arranged on a side of the upper and lower assemblies facing the rotating assembly, and used for clamping the annular wear-resistant sheet;

[0010] When the upper and lower components move up and down, the bearing component clamps the annular wear-resistant plate to drive the swing arm to move up and down.

[0011] The utility model is further provided that the rotating assembly comprises: a first driving device, for providing driving force, provided with a first output shaft arranged vertically;

[0012] A first driving device base, used for mounting the first driving device;

[0013] A clamping member, fixedly assembled on the first output shaft;

[0014] A swing arm seat, used for mounting the swing arm; and

[0015] A cross rail, arranged at the lower end of the holding member, comprising a first rail fixedly mounted on the holding member and a second rail cooperating with the first rail and for mounting the swing arm seat, wherein the first rail cooperates with the second rail to realize the up and down movement of the swing arm seat;

[0016] The first driving device is turned on to drive the clamping member to rotate horizontally, thereby driving the swing arm seat to rotate horizontally, and further driving the swing arm to rotate horizontally.

[0017] The utility model is further arranged that a first sensor is arranged on the side of the first driving device base facing the clamping member, an arc-shaped piece is fixedly arranged on the clamping member, and the first sensor detects the rotation of the swing arm by sensing the rotation of the arc-shaped piece.

[0018] The utility model is further configured that the base of the first driving device is provided with a hollow structure for avoiding the clamping member to provide a rotation space for the clamping member; a limiting protrusion is provided on the inner wall of the base of the first driving device, and a blocking member located on the same horizontal plane as the limiting protrusion is provided on the top of the clamping member, and the limiting protrusion cooperates with the blocking member to limit the rotation angle of the clamping member within a limited angle range.

[0019] The utility model is further configured and characterized in that two blocking members are provided and are symmetrically distributed.

[0020] The utility model is further configured and characterized in that arc-shaped grooves are arranged on both sides of the limiting protrusion close to the blocking member, so that the blocking member can be placed in the arc-shaped grooves along a circular motion trajectory.

[0021] The utility model is further arranged that the upper and lower components include: a second driving device for providing driving force, provided with a second output shaft arranged transversely;

[0022] A second driving device base, used for mounting the second driving device;

[0023] An eccentric wheel device is mounted on the side of the second driving device base facing the rotating assembly; the eccentric wheel device comprises: a connecting rod, an eccentric shaft with one end mounted in the connecting rod and a connecting rod pin with one end mounted in the lower end of the connecting rod;

[0024] a coupling, disposed in the base of the second driving device, for connecting the second output shaft and the eccentric shaft;

[0025] a slider mounting seat, fixedly mounted on the other end of the connecting rod pin, wherein a slider is provided on a side of the slider mounting seat facing away from the rotating assembly; and

[0026] A linear guide rail, fixed on the vertical extension arm of the second driving device base, used to cooperate with the slider to enable the slider mounting seat to move up and down;

[0027] The second driving device is turned on to drive the second output shaft to drive the eccentric shaft to rotate, and the slider mounting seat is driven to perform up and down linear motion along the linear guide rail through the connecting rod.

[0028] The utility model is further arranged that the upper and lower components also include: a second sensor arranged on the base of the second driving device facing the side of the eccentric wheel device, and the slider is installed with a baffle that cooperates with the second sensor, and the second sensor cooperates with the baffle to control the vertical movement distance of the slider mounting seat.

[0029] The utility model is further arranged that the bearing assembly is arranged on the side of the slider mounting seat facing the rotating assembly, and the bearing assembly includes: a fixed bearing fixedly mounted on the slider mounting seat, a bearing base fixedly mounted on the slider mounting seat, and a movable bearing assembled on the bearing base and matched with the fixed bearing, and the distance between the fixed bearing and the movable bearing is adjusted by adjusting the position of the movable bearing on the bearing base.

[0030] The utility model is further arranged that a first avoidance slope is provided on a side of the second driving device base facing the slider mounting seat for avoiding the slider mounting seat, and a second avoidance slope is provided on the slider mounting seat. When the slider mounting seat moves upward, the first avoidance slope cooperates with the second avoidance slope to prevent the slider mounting seat from colliding with the second driving device base.

[0031] After adopting the above technical solution, the utility model has the following beneficial effects: the annular wear-resistant sheet is fixedly sleeved on the rotating assembly, and the bearing for clamping the annular wear-resistant sheet is arranged on the side of the upper and lower assemblies facing the rotating assembly. Due to the closed annular structure of the annular wear-resistant sheet, when the bearing assembly clamps the annular wear-resistant sheet, the clamping force received can be evenly distributed on the entire annular surface, reducing stress concentration and local deformation, and being more durable. Compared with the wear-resistant sheet design on the existing crystal extraction mechanism, it has the characteristics of larger fixed contact area between the bearing assembly and the wear-resistant sheet, uniform force on the wear-resistant sheet, and not easy to deform. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0033] Figure 1 It is a structural schematic diagram of the crystal taking mechanism;

[0034] Figure 2 It is a schematic diagram of the structure of the rotating assembly;

[0035] Figure 3 It is a schematic diagram of the structural explosion of the rotating component;

[0036] Figure 4 A top view of the first drive device and the swing arm is hidden for the rotating assembly;

[0037] Figure 5 It is a schematic diagram of the structure of the upper and lower components;

[0038] Figure 6 It is a schematic diagram of the structural explosion of the upper and lower components;

[0039] Figure 7 It is a schematic diagram of the structural explosion of the eccentric wheel device.

[0040] Description of reference numerals: 100, rotating assembly; 110, first driving device; 111, first output shaft; 120, first driving device base; 130, holding member; 140, swing arm seat; 150, cross rail; 151, first rail; 152, second rail; 160, limiting protrusion; 161, arc groove; 170, blocking member; 200, upper and lower components; 210, bearing assembly; 211, fixed bearing; 212, bearing base; 213, movable bearing; 220, second driving device; 221, second output shaft; 230, second driving device base; 231 , extension arm; 240, eccentric wheel device; 241, connecting rod; 242, eccentric shaft; 243, connecting rod pin; 244, bearing set; 244a, first precision bearing; 244b, second precision bearing; 244c, first bearing spacer; 244d, second bearing spacer; 245, bearing outer ring pressure cover; 246, locking nut; 250, coupling; 260, slider mounting seat; 270, slider; 280, linear guide; 300, swing arm; 400, annular wear-resistant plate; 500, first sensor; 600, arc plate; 700, second sensor; 800, baffle. DETAILED DESCRIPTION

[0041] The utility model is further described in detail below in conjunction with the accompanying drawings.

[0042] This specific embodiment is merely an explanation of the present invention and is not a limitation of the present invention. After reading this specification, those skilled in the art may make non-creative modifications to the present embodiment as needed, but such modifications are protected by patent law as long as they are within the scope of the claims of the present invention.

[0043] This embodiment relates to a crystal retrieval mechanism. Figure 1 , including: a swing arm 300, a rotating assembly 100, an annular wear-resistant sheet 400, an upper and lower assembly 200, and a bearing assembly 210. The front end of the swing arm 300 is provided with a suction nozzle for sucking crystals (not shown in the drawings); the rotating assembly 100 is used to drive the swing arm 300 to rotate horizontally, and the lower end of the rotating assembly 100 is provided with the swing arm 300; the annular wear-resistant sheet 400 is fixedly sleeved on the rotating assembly 100; the upper and lower assembly 200 is used to drive the swing arm 300 to move up and down; and the bearing assembly 210 is provided on the side of the upper and lower assembly 200 facing the rotating assembly 100, and is used to clamp the annular wear-resistant sheet 400. When the upper and lower assembly 200 moves up and down, the bearing assembly 210 clamps the annular wear-resistant sheet 400 to drive the swing arm 300 to move up and down. In the existing crystal extraction mechanism, the wear-resistant sheet is arranged on the upper and lower components 200, and the bearing component 210 is arranged on the rotating component 100. In order to avoid affecting the rotation of the swing arm 300, the wear-resistant sheet is arranged in an arc shape. However, the fixed contact area between the arc-shaped wear-resistant sheet and the bearing component 210 is small, and uneven force is prone to occur, resulting in deformation of the wear-resistant sheet, which requires frequent maintenance or replacement. In this embodiment, the wear-resistant sheet is fixedly sleeved on the rotating component 100, and the wear-resistant sheet is arranged in an annular shape for easy disassembly and assembly. The bearing component 210 is arranged on the side of the upper and lower components 200 facing the rotating component 100. When the swing arm 300 rotates, the bearing component 210 always clamps the annular wear-resistant sheet 400, and the contact area is fixed, which does not affect the rotation of the swing arm 300. In addition, due to the closed annular structure design of the annular wear-resistant sheet 400, when the bearing assembly 210 clamps the annular wear-resistant sheet 400, the fixed contact area between the bearing assembly 210 and the annular wear-resistant sheet 400 becomes larger, and the annular wear-resistant sheet 400 can evenly distribute the clamping force on the entire annular surface, so that the force is more uniform, and stress concentration and local deformation are reduced. Compared with the traditional arc-shaped wear-resistant sheet design, the annular wear-resistant sheet 400 has the advantages of being less prone to deformation and more durable.

[0044] In this embodiment, refer to Figure 2-Figure 3The rotating assembly 100 includes: a first driving device 110, a first driving device base 120, a clamping member 130, a swing arm seat 140 and a cross rail 150. The first driving device 110 is used to provide driving force and is provided with a first output shaft 111 arranged vertically. The first drive device base 120 is used for installing the first drive device 110; the clamping member 130 is fixedly mounted on the first output shaft 111 and rotates with the rotation of the first output shaft 111. In this embodiment, the lower end of the clamping member 130 is hollowed out for assembly of other components, saving space of the overall assembly and achieving the purpose of weight reduction; the swing arm seat 140 is used for mounting the swing arm 300; the cross rail 150 is arranged at the lower end of the clamping member 130. Specifically, the cross rail 150 includes a first rail 151 fixedly mounted on the clamping member 130 and a second rail 152 matched with the first rail 151 and mounted on the swing arm seat 140. The first rail 151 and the second rail 152 are matched to realize the up and down movement of the swing arm seat 140. The cross rail 150 has the advantages of small rolling friction, good stability, practical and convenient installation, long service life, and easy realization of high rigidity and high load movement.

[0045] In this embodiment, the first driving device 110 is a servo motor, which has the advantages of high precision and good stability, and meets the high precision requirements of crystal retrieval work. In other embodiments, the first driving device 110 can also be set to other motor forms.

[0046] When the swing arm 300 needs to be rotated, the first driving device 110 is turned on to drive the clamping member 130 to rotate horizontally, thereby driving the swing arm seat 140 to rotate horizontally, and further driving the swing arm 300 to rotate horizontally.

[0047] Further, refer to Figure 1-Figure 3 , a first sensor 500 is arranged on the side of the first driving device base 120 facing the clamping member 130, and an arc-shaped piece 600 is fixedly arranged on the clamping member 130. The first sensor 500 detects the rotation of the swing arm 300 by sensing the rotation of the arc-shaped piece 600. In this embodiment, the first sensor 500 is a photoelectric sensor, and the position and angle of the swing arm 300 required to rotate from crystal retrieval to crystal solidification are realized through the precise control of the servo motor and the cooperation of the first sensor 500 and the arc-shaped piece 600. In other embodiments, the first sensor 500 can also be other sensor types such as laser. In addition, in this embodiment, the arc-shaped piece 600 is set to be an arc-shaped piece 600 close to a semicircle, and the first sensor 500 cooperates with the arc-shaped piece 600 to realize the 180-degree back and forth movement of the swing arm 300 from crystal retrieval to crystal solidification and from crystal solidification to crystal retrieval. In other embodiments, the arc-shaped piece 600 can also be set as a retractable arc-shaped piece 600 to meet other angle requirements of the swing arm 300 during the rotation process.

[0048] In this embodiment, refer to Figure 4 , the first driving device base 120 is provided with a hollow structure for avoiding the clamping member 130 to provide a rotation space for the clamping member 130; a limiting protrusion 160 is provided on the inner wall of the first driving device base 120, and a blocking member 170 is provided on the top of the clamping member 130 on the same horizontal plane as the limiting protrusion 160, and the limiting protrusion 160 cooperates with the blocking member 170 to limit the rotation angle of the clamping member 130 within a limited angle range. In this embodiment, the first sensor 500, the limiting protrusion 160 and the blocking member 170 are located on the same vertical plane. On the basis of setting the first sensor 500 and the arc-shaped piece 600 to detect the rotation of the swing arm 300, the cooperation between the limiting protrusion 160 and the blocking member 170 plays a role of a second guarantee, ensuring that when the swing arm 300 rotates in the same direction, the rotation angle is 180 degrees, ensuring the high-precision operation of the swing arm 300 on the crystal placement position when taking and fixing the crystal.

[0049] Further, refer to Figure 3-Figure 4 In this embodiment, the two blocking members 170 are arranged on the same vertical plane as the limiting protrusion 160 and the first sensor 500, and the swing arm 300 is limited to rotate clockwise or counterclockwise, and the maximum rotation angle is 180 degrees.

[0050] In this embodiment, refer to Figure 3 and Figure 4 , arc grooves 161 are provided on both sides of the limiting protrusion 160 near the blocking member 170, so that the blocking member 170 can be placed in the arc grooves 161 along the circular motion trajectory. When the clamping member 130 rotates, the blocking member 170 arranged at the top of the clamping member 130 and located on the same horizontal plane as the limiting protrusion 160 also rotates accordingly, and the arc groove 161 on the limiting protrusion 160 is set to an arc shape, which is convenient for the blocking member 170 to be placed in the arc groove 161 along the circular motion trajectory, and also plays a certain buffering role. In this embodiment, the blocking member 170 is set to a bent shape similar to the letter "L", and the surfaces of the two ends of the blocking member 170 facing the inner wall of the first drive device base 120 are set to be inclined surfaces to avoid the inner wall of the first drive device base 120, so as to prevent the normal rotation of the clamping member 130 from being affected and the blocking member 170 from scratching the inner wall of the first drive device base 120 during the rotation process.

[0051] In this embodiment, refer to Figure 5-Figure 6The upper and lower components 200 include a second driving device 220, a second driving device base 230, an eccentric wheel device 240, a coupling 250, a slider mounting seat 260 and a linear guide rail 280. The second drive device 220 is used to provide driving force and is provided with a second output shaft 221 arranged horizontally; the second drive device base 230 is used to install the second drive device 220; the eccentric wheel device 240 is installed on the side of the second drive device base 230 facing the rotating component 100; the eccentric wheel device 240 includes: a connecting rod 241, an eccentric shaft 242 with one end assembled into the connecting rod 241, and a connecting rod pin 243 with one end assembled into the lower end of the connecting rod 241; a coupling 250 is arranged in the second drive device base 230, which is used to connect the second output shaft 221 and the eccentric shaft 242; a slider mounting seat 260 is fixedly installed on the other end of the connecting rod pin 243, and a slider 270 is provided on the side of the slider mounting seat 260 facing away from the rotating component 100; a linear guide rail 280 is fixed on the vertical extension arm 231 of the second drive device base 230, and is used to cooperate with the slider 270 to enable the slider mounting seat 260 to move up and down. In this embodiment, the second driving device 220 is a servo motor, which has the advantages of high precision and high stability, and ensures the accuracy of the up and down movement distance of the slider mounting seat 260. In other embodiments, the second driving device 220 can also be other high precision and high stability motors.

[0052] When the swing arm 300 needs to be adjusted to move up and down, the second driving device 220 is turned on to drive the second output shaft 221 to drive the eccentric shaft 242 to rotate, and then drive the slider mounting seat 260 to move up and down along the linear guide rail 280 through the connecting rod 241.

[0053] In this embodiment, refer to Figure 7 The eccentric wheel device 240 also includes: a bearing set 244 placed in the connecting rod 241 and respectively sleeved on the eccentric shaft 242 and the connecting rod pin 243. The bearing set 244 includes: a first precision bearing 244a, a second precision bearing 244b, a first bearing spacer 244c placed between the first precision bearing 244a and the second precision bearing 244b, and a second bearing spacer 244d placed in the first bearing spacer 244c, so that the eccentric shaft 242 and the connecting rod pin 243 can be stably fixed in the connecting rod 241 to achieve the effect of precise rotation, improve the accuracy and stability of the up and down movement of the swing arm 300 during the crystal retrieval process, and ensure high-speed and high-stability movement during the working process. Further, a bearing outer ring pressure cover 245 is arranged on the outer side of the bearing set 244 sleeved on the eccentric shaft 242 and the connecting rod pin 243 to fix the bearing in the bearing set 244, adjust the bearing clearance and bear the axial force. In addition, a locking nut 246 is further provided on the bearing outer ring pressure cover 245 at the connecting rod pin 243 to further lock the bearing sleeve 244 on the connecting rod pin 243 .

[0054] Further, refer to Figure 6 The upper and lower components 200 further include: a second sensor 700 disposed on the second driving device base 230 facing the eccentric wheel device 240, and a baffle 800 is installed on the slider 270 to cooperate with the second sensor 700. The second sensor 700 cooperates with the baffle 800 to control the vertical movement distance of the slider mounting seat 260 to ensure that the slider mounting seat 260 slides within a limited range, thereby limiting the swing arm 300 from sliding within a limited vertical range. In this embodiment, the second sensor 700 is a photoelectric sensor. In some embodiments, the second sensor 700 can also be other types of sensors such as lasers.

[0055] In this embodiment, refer to Figure 5-Figure 6 The bearing assembly 210 is arranged on the side of the slider mounting seat 260 facing the rotating assembly 100. The bearing assembly 210 includes: a fixed bearing 211 fixedly mounted on the slider mounting seat 260, a bearing base 212 fixedly mounted on the slider mounting seat 260, and a movable bearing 213 assembled on the bearing base 212 and matched with the fixed bearing 211. The distance between the fixed bearing 211 and the movable bearing 213 is adjusted by adjusting the position of the movable bearing 213 on the bearing base 212 to match the thickness of the annular wear-resistant sheet 400. In this embodiment, the bearing assembly 210 is arranged on the side of the slider mounting seat 260 facing the rotating assembly 100, and the annular wear-resistant sheet 400 is fixedly sleeved on the swing arm seat 140 in the rotating assembly 100. Compared with the existing crystal extraction mechanism in which the bearing assembly 210 is arranged on the swing arm seat 140 and the wear-resistant sheet is arranged on the slider mounting seat 260, it has the characteristics of easy disassembly, assembly and debugging.

[0056] Furthermore, a first avoidance slope for avoiding the slider mounting seat 260 is provided on the side of the second driving device base 230 facing the slider mounting seat 260, and a second avoidance slope is provided on the slider mounting seat 260. When the slider mounting seat 260 moves upward, the first avoidance slope cooperates with the second avoidance slope to prevent the slider mounting seat 260 from colliding with the second driving device base 230, and also to avoid affecting the upward movement of the slider mounting seat 260.

[0057] The working process of the utility model is roughly as follows: turn on the first driving device 110, and the first output shaft 111 of the first driving device 110 drives the clamping member 130 to rotate horizontally, thereby driving the cross guide rail 150, the swing arm seat 140 and the annular wear-resistant plate 400 located on the clamping member 130 to rotate horizontally, thereby causing the swing arm 300 fixed on the swing arm seat 140 to rotate horizontally. When the swing arm 300 rotates horizontally to a set angle, the second drive device 220 drives the eccentric shaft 242 to rotate through the second output shaft 221 and the coupling 250, and the eccentric shaft 242 drives the connecting rod pin 243 through the connecting rod 241, thereby causing the slider mounting seat 260 to move up and down on the linear guide rail 280, so the bearing assembly 210 on the slider mounting seat 260 also moves up and down. Since the bearing assembly 210 always clamps the annular wear-resistant sheet 400 during the movement, the bearing assembly 210 drives the annular wear-resistant sheet 400 to move up and down, thereby driving the swing arm seat 140 to slide up and down on the cross guide rail 150, thereby causing the swing arm 300 to move up and down with the swing arm 300. Repeat the above actions to complete the crystal removal and crystal fixing actions, that is: absorb the crystal - swing arm 300 rises - swing arm 300 rotates - swing arm 300 descends - place the crystal.

[0058] The above is only used to illustrate the technical solution of the utility model rather than to limit it. Other modifications or equivalent substitutions made to the technical solution of the utility model by ordinary technicians in this field should be included in the scope of the claims of the utility model as long as they do not depart from the spirit and scope of the technical solution of the utility model.

Claims

1. A crystal retrieval mechanism, characterized in that: include: A swing arm (300) having a suction nozzle for sucking crystals disposed at its front end; A rotating assembly (100) is used to drive the swing arm (300) to rotate horizontally, and the swing arm (300) is disposed at the lower end of the rotating assembly (100); An annular wear-resistant sheet (400) is fixedly sleeved on the rotating assembly (100); An upper and lower assembly (200) is used to drive the swing arm (300) to move up and down; and A bearing assembly (210) is arranged on a side of the upper and lower assemblies (200) facing the rotating assembly (100) and is used to clamp the annular wear-resistant sheet (400); When the upper and lower components (200) move up and down, the bearing component (210) clamps the annular wear-resistant plate (400) to drive the swing arm (300) to move up and down.

2. The crystal retrieval mechanism according to claim 1, characterized in that: The rotating assembly (100) comprises: a first driving device (110) for providing driving force, and having a first output shaft (111) arranged vertically; A first driving device base (120) for mounting the first driving device (110); A clamping member (130) fixedly assembled on the first output shaft (111); A swing arm seat (140) for mounting the swing arm (300); and A cross rail (150) is arranged at the lower end of the holding member (130), and comprises a first rail (151) fixedly mounted on the holding member (130) and a second rail (152) cooperating with the first rail (151) and for mounting the swing arm seat (140), wherein the first rail (151) cooperates with the second rail (152) to realize the up and down movement of the swing arm seat (140); The first driving device (110) is turned on to drive the clamping member (130) to rotate horizontally, thereby driving the swing arm seat (140) to rotate horizontally, and further driving the swing arm (300) to rotate horizontally.

3. The crystal retrieval mechanism according to claim 2, characterized in that: A first sensor (500) is arranged on the side of the first driving device base (120) facing the clamping member (130), and an arc-shaped piece (600) is fixedly arranged on the clamping member (130). The first sensor (500) detects the rotation of the swing arm (300) by sensing the rotation of the arc-shaped piece (600).

4. The crystal retrieval mechanism according to claim 2, characterized in that: The first driving device base (120) is provided with a hollow structure for avoiding the clamping member (130) to provide a rotation space for the clamping member (130); a limiting protrusion (160) is provided on the inner wall of the first driving device base (120); a blocking member (170) located on the same horizontal plane as the limiting protrusion (160) is provided at the top of the clamping member (130); the limiting protrusion (160) cooperates with the blocking member (170) to limit the rotation angle of the clamping member (130) within a limited angle range.

5. The crystal retrieval mechanism according to claim 4, characterized in that: Two blocking members (170) are provided and are symmetrically distributed.

6. The crystal retrieval mechanism according to claim 5, characterized in that: Arc-shaped grooves (161) are provided on both sides of the limiting protrusion (160) close to the blocking member (170), so that the blocking member (170) can be placed in the arc-shaped grooves (161) along a circular motion trajectory.

7. The crystal retrieval mechanism according to claim 1, characterized in that: The upper and lower components (200) include: a second driving device (220) for providing driving force, provided with a second output shaft (221) arranged transversely; A second driving device base (230), used for mounting the second driving device (220); An eccentric wheel device (240) is mounted on a side of the second driving device base (230) facing the rotating assembly (100); the eccentric wheel device (240) comprises: a connecting rod (241), an eccentric shaft (242) with one end mounted in the connecting rod (241), and a connecting rod pin (243) with one end mounted in the lower end of the connecting rod (241); A coupling (250) is disposed in the second drive device base (230) and is used to connect the second output shaft (221) and the eccentric shaft (242); a slider mounting seat (260) fixedly mounted on the other end of the connecting rod pin (243), wherein a slider (270) is disposed on a side of the slider mounting seat (260) facing away from the rotating assembly (100); and A linear guide rail (280) is fixed on a vertical extension arm (231) of the second drive device base (230) and is used to cooperate with the slider (270) to enable the slider mounting seat (260) to move up and down; The second driving device (220) is turned on to drive the second output shaft (221) to drive the eccentric shaft (242) to rotate, thereby driving the slider mounting seat (260) to perform vertical linear motion along the linear guide rail (280) through the connecting rod (241).

8. The crystal retrieval mechanism according to claim 7, characterized in that: The upper and lower components (200) further include: a second sensor (700) arranged on the second drive device base (230) facing the side of the eccentric wheel device (240); the slider (270) is provided with a baffle (800) that cooperates with the second sensor (700); the second sensor (700) cooperates with the baffle (800) to control the vertical movement distance of the slider mounting seat (260).

9. The crystal retrieval mechanism according to claim 7, characterized in that: The bearing assembly (210) is arranged on a side of the slider mounting seat (260) facing the rotating assembly (100), and the bearing assembly (210) comprises: a fixed bearing (211) fixedly mounted on the slider mounting seat (260), a bearing base (212) fixedly mounted on the slider mounting seat (260), and a movable bearing (213) assembled on the bearing base (212) and matched with the fixed bearing (211), and the distance between the fixed bearing (211) and the movable bearing (213) is adjusted by adjusting the position of the movable bearing (213) on the bearing base (212).

10. The crystal retrieval mechanism according to any one of claims 7 to 9, characterized in that: A first avoidance slope for avoiding the slider mounting seat (260) is provided on a side of the second driving device base (230) facing the slider mounting seat (260), and a second avoidance slope is provided on the slider mounting seat (260). When the slider mounting seat (260) moves upward, the first avoidance slope cooperates with the second avoidance slope to prevent the slider mounting seat (260) from colliding with the second driving device base (230).

Images