Multi-row spacing-adjustable and rotatable suction nozzle module

Abstract

The utility model belongs to the technical field of chip sealing detection, and particularly relates to a multi-row rotatable suction nozzle module which is applied to chip detection and packaging equipment and is used for sucking chips, and the multi-row rotatable suction nozzle module is adjustable in spacing. The suction nozzle lifting module is used for driving a suction nozzle rotating module to move in the Z-axis direction, and the suction nozzle rotating module is used for driving the multi-suction-nozzle module to rotate around the Z axis; wherein the multi-suction-nozzle module is provided with a plurality of air cylinders and suction nozzles which are independently controlled, multiple or single chips can be sucked at a time, and actions of sucking, moving, steering, storing and the like are achieved; and meanwhile, the distance between the suction nozzles can be automatically adjusted according to different sizes of chips and different storage distances, so that application scenes such as TRAY disc material taking and placing, sorting and placing and taping chip material taking and placing are met, and the chip taking and placing device has the advantages of being compact in structure, diverse in function, convenient to adjust, high in efficiency, wide in compatible range, diverse in application scenes and the like.

Description

Technical Field

[0001] The utility model belongs to the technical field of chip sealing and testing, and in particular relates to a nozzle module with adjustable multi-row spacing and rotatable structure, which is used in chip testing and packaging equipment and is used for sucking chips. Background Art

[0002] At the end of chip production, after packaging is completed, it needs to be inspected and packaged. After the chip inspection in the tray is completed, a reliable and efficient robot is needed to sort and place the chips according to the inspection results. Good and defective products are sorted and placed on different trays for storage (good product trays or defective product trays). There is also a functional requirement to sort defective products by category (such as poor appearance, poor pins, scratches, etc.); in addition, some chips need to be placed in the same direction for packaging and shipment. Therefore, in order to meet the various packaging and placement scenarios mentioned above, it is urgent to design a multi-row spacing adjustable and rotatable nozzle module. Utility Model Content

[0003] In order to overcome the above-mentioned defects of the prior art, the utility model provides a multi-row spacing-adjustable and rotatable suction nozzle module, which can adjust the suction nozzle spacing and suction nozzle direction to meet application scenarios such as TRAY tray loading and unloading, sorting and placement, and taping and chip loading and unloading.

[0004] To achieve the above objectives, the present invention provides the following technical solutions:

[0005] A multi-row spacing adjustable and rotatable nozzle module, comprising a multi-nozzle module, a nozzle lifting module, and a nozzle rotating module, wherein the multi-nozzle module is mounted on the nozzle rotating module, and the nozzle rotating module can drive the multi-nozzle module to rotate around the Z axis; the nozzle rotating module is mounted on the nozzle lifting module, and the nozzle lifting module can drive the nozzle rotating module to move along the Z axis;

[0006] The multi-nozzle module includes a first mounting base, a screw motor, a screw nut base, a guide plate, a cam bearing, a first linear guide rail, a cylinder and a nozzle;

[0007] The first mounting seat is connected to the nozzle rotating module, and the first linear guide rail is arranged along the Z-axis direction and fixed on the outer side of the first mounting seat;

[0008] The guide plate is connected to the first linear guide rail in a slidable manner up and down, the screw motor is fixed to the outside of the first mounting seat, the output screw of the screw motor is arranged downward and connected to the screw nut seat, and the screw nut seat is fixed to the guide plate;

[0009] There are N cylinders, where N is an odd number; the N cylinders are arranged side by side in the horizontal direction on the inner side of the first mounting base, wherein the cylinder located in the middle is fixedly connected to the first mounting base, and the remaining cylinders located on both sides are connected to the first mounting base in a horizontally movable manner via linear guide sliders;

[0010] The guide plate is provided with N-1 guide grooves arranged at intervals in a fan shape. Each cylinder located on both sides is connected to a cam bearing on a side close to the guide groove. Each cam bearing is movably disposed in its corresponding guide groove. Each cam bearing has the same horizontal movement distance in its respective guide groove. When the guide plate slides up and down, the cam bearings move relative to each other in the guide groove, thereby driving the cylinders to adjust to equal distances.

[0011] A suction nozzle is respectively installed on the power output end of each cylinder.

[0012] As a preferred solution of the present invention, the nozzle lifting module includes a second mounting seat, a second linear guide rail, a lifting slide, a first servo motor, a first motor mounting bracket and a ball screw nut pair. The second linear guide rail is arranged along the Z-axis direction and fixed on the second mounting seat. The lifting slide can be slidably connected to the second linear guide rail up and down. The first servo motor is fixed to the front top of the second mounting seat through the first motor mounting bracket. The power output end of the first servo motor is connected to the lifting slide through the ball screw nut pair and can drive the lifting slide to move along the Z-axis direction.

[0013] As a preferred solution of the present invention, two groups of tension spring assemblies arranged symmetrically between the lifting slide and the second mounting seat are provided, and the tension spring assembly includes a tension spring and a tension spring seat. The tension spring seat is fixed on the second mounting seat, the upper end of the tension spring is connected to the tension spring seat, and the lower end of the tension spring is connected to the upper end of the lifting slide.

[0014] As a preferred solution of the present invention, the nozzle rotation module includes a third mounting seat, a second servo motor, a second motor mounting bracket and a hollow rotating platform; the third mounting seat is fixed on the lifting slide, the second servo motor is fixed to the third mounting seat through the second motor mounting bracket, the hollow rotating platform is rotatably arranged at the bottom of the second motor mounting bracket, and the power output end of the second servo motor is connected to the hollow rotating platform and can drive the hollow rotating platform to rotate around the Z axis.

[0015] As a preferred solution of the present invention, the first mounting seat includes a mounting top plate, a mounting back plate and a mounting side plate that are interconnected, the mounting top plate is fixed to the hollow rotating platform, the first linear guide rail is fixed to the outside of the mounting back plate, and the second linear guide rail is fixed to the inside of the mounting back plate; N cylinders are arranged side by side in the horizontal direction in the space formed by the mounting top plate, the mounting back plate and the mounting side plates.

[0016] As a preferred solution of the present invention, the second motor mounting bracket is composed of a motor mounting plate, a reinforcing side plate and a reinforcing rib plate; the motor mounting plate is fixed to the lower end of the lifting slide, the reinforcing side plate and the reinforcing rib plate are arranged on both sides of the second servo motor, the reinforcing side plate is connected between the motor mounting plate and the lifting slide, and the reinforcing rib plate is connected between the motor mounting plate and the lifting slide.

[0017] As a preferred solution of the present invention, a pipeline guide tube is provided on the mounting top plate and is connected to the space formed by the mounting top plate, the mounting back plate and the mounting side plate. The pipeline guide tube is inserted into the hollow area of ​​the hollow rotating platform. A wire passing hole is provided on the motor mounting plate and is connected to the hollow area of ​​the hollow rotating platform. A wire passing bracket plate is fixedly provided on the motor mounting plate, and the wire passing bracket plate is located above the wire passing hole.

[0018] As a preferred solution of the present invention, the nozzle rotation module is provided with a first photoelectric sensor for calibrating a reference origin of a rotation angle.

[0019] As a preferred solution of the present invention, the multi-nozzle module is provided with a second photoelectric sensor for detecting the extended state of the nozzles.

[0020] As a preferred solution of the present invention, the multi-row spacing-adjustable and rotatable suction nozzle module also includes a solenoid valve module, which includes a solenoid valve mounting bracket, a protective cover, a first solenoid valve group, a second solenoid valve group and a terminal block. The solenoid valve mounting bracket is fixed to the top of the rear side of the second mounting seat, and the solenoid valve mounting bracket is provided with a mounting platform. The protective cover is provided on the mounting platform and is combined with the mounting platform to form a accommodating cavity that can accommodate the first solenoid valve group, the second solenoid valve group and the terminal block. The first solenoid valve group, the second solenoid valve group and the terminal block are all installed on the mounting platform. The solenoid valves of the first solenoid valve group are respectively connected to the cylinders one by one through an air path, and the solenoid valves of the second solenoid valve group are respectively connected to the suction nozzles one by one through an air path. All sensor cables and solenoid valve cables are all connected to the terminal block, and the cables concentrated on the terminal block are connected to the equipment circuit board through a drag chain.

[0021] Compared with the prior art, the multi-row spacing adjustable and rotatable nozzle module of the present invention has the following beneficial effects:

[0022] The multi-row spacing-adjustable and rotatable suction nozzle module of the utility model can suck multiple or single chips at a time and realize actions such as sucking, moving, turning, and storing. At the same time, it can automatically adjust the suction nozzle spacing according to the different chip sizes and storage spacing differences to meet the application scenarios of TRAY tray loading and unloading, sorting and placing, and taping chip loading and unloading. It has the characteristics of compact structure, diverse functions, easy adjustment, high efficiency, wide compatibility, and diverse application scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings of the embodiments are briefly introduced below.

[0024] Figure 1 A schematic structural diagram of a multi-row spacing-adjustable and rotatable nozzle module provided in an embodiment of the present invention;

[0025] Figure 2 This is a structural diagram of a multi-nozzle module in an embodiment of the present utility model;

[0026] Figure 3 This is a structural diagram of a multi-nozzle module and a nozzle rotation module in an embodiment of the present utility model;

[0027] Figure 4 This is a structural diagram of the nozzle lifting module in an embodiment of the present utility model;

[0028] Figure 5 This is a structural diagram of the solenoid valve module in an embodiment of the present utility model;

[0029] Figure 6 The present invention is a schematic structural diagram of a multi-row spacing-adjustable and rotatable nozzle module provided in an embodiment of the present invention installed on a linear module.

[0030] Markings in the figure:

[0031] Multi-nozzle module 100; first mounting base 101; mounting top plate 1011; mounting back plate 1012; mounting side plate 1013; pipeline guide tube 1014; screw motor 102; screw nut seat 103; guide plate 104; cam bearing 105; first linear guide 106; cylinder 107; nozzle 108; guide groove 109; second photoelectric sensor 110;

[0032] Nozzle lifting module 200; second mounting base 201; second linear guide rail 202; lifting slide 203; first servo motor 204; first motor mounting bracket 205; ball screw nut pair 206; coupling 207; bearing seat 208; tension spring assembly 209; tension spring 2091; tension spring seat 2092;

[0033] Nozzle rotation module 300; third mounting base 301; second servo motor 302; second motor mounting bracket 303; motor mounting plate 3031; reinforced side plate 3032; reinforced rib plate 3033; wire hole 3034; hollow rotating platform 304; first photoelectric sensor 305;

[0034] Solenoid valve module 400; solenoid valve mounting bracket 401; protective cover 402; first solenoid valve group 403; second solenoid valve group 404; terminal block 405; mounting platform 406;

[0035] Linear module 500;

[0036] Gantry 600;

[0037] Wire support plate 700;

[0038] Electrical cable support 800. DETAILED DESCRIPTION

[0039] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0040] like Figures 1 to 5 As shown, an embodiment of the present invention provides a multi-row spacing-adjustable and rotatable suction nozzle module, which includes a multi-suction nozzle module 100, a suction nozzle lifting module 200 and a suction nozzle rotation module 300. The multi-suction nozzle module 100 is installed on the suction nozzle rotation module 300, and the suction nozzle rotation module 300 can drive the multi-suction nozzle module 100 to rotate around the Z axis; the suction nozzle rotation module 300 is installed on the suction nozzle lifting module 200, and the suction nozzle lifting module 200 can drive the suction nozzle rotation module 300 to move along the Z axis.

[0041] The multi-nozzle module 100 includes a first mounting seat 101, a screw motor 102, a screw nut seat 103, a guide plate 104, a cam bearing 105, a first linear guide 106, a cylinder 107 and a nozzle 108; the first mounting seat 101 is connected to the nozzle rotation module 300, and the first linear guide 106 is arranged along the Z-axis direction and fixed to the outer side of the first mounting seat 101; the guide plate 104 is slidably connected to the first linear guide 106 up and down, the screw motor 102 is fixed to the outer side of the first mounting seat 101, the output screw of the screw motor 102 is arranged downward and connected to the screw nut seat 103, and the screw nut seat 103 is fixed to the guide plate 104; there are N cylinders 107, N is an odd number, preferably 7; the N cylinders 107 are arranged side by side in the horizontal direction on the inner side of the first mounting seat 101, and the cylinder 107 located in the middle is fixed It is fixedly connected to the first mounting seat 101, and the other cylinders 107 on both sides are horizontally movably connected to the first mounting seat 101 through linear guide sliders; the guide plate 104 is provided with N-1 guide grooves 109 arranged in a fan shape, and the cylinders 107 on both sides are respectively connected to the cam bearings 105 on the side close to the guide groove 109, and each cam bearing 105 is movably arranged in its corresponding guide groove 109; the horizontal movement distance of each cam bearing 105 in its respective guide groove 109 is the same, and when the guide plate 104 slides up and down, the cam bearing 105 moves relative to each other in the guide groove 109, thereby driving each cylinder 107 to adjust equidistantly; a suction nozzle 108 is respectively installed at the power output end of each cylinder 107, and the extension or retraction action of each suction nozzle 108 is independently driven by its respective cylinder 107. When it is necessary to adjust the distance between the cylinder 107 and the suction nozzle 108, the screw motor 102 rotates, driving the screw nut seat 103 to move up and down, and the guide plate 104 is fixedly connected to the screw nut seat 103 and is driven by the screw nut seat 103 to move up and down (Z direction) along the first linear guide rail 106; the cam bearing 105 is embedded in the guide groove 109 on the guide plate 104, and the cam bearing 105 can realize opening and closing movement as the up and down position of the guide groove 109 changes, thereby driving the cylinder 107 to move left and right in the horizontal direction, and adjusting the distance between the cylinders 107 equidistantly; it should be noted that, among the odd-numbered cylinders 107, the middle cylinder 107 is fixedly installed and is the middle point for width adjustment (not adjustable), and the cylinders 107 on the left and right sides are moved equidistantly to adjust the distance.

[0042] In actual applications, the program can flexibly enable the number of suction nozzles 108 according to production needs. A single suction nozzle can work independently, or multiple suction nozzles can work in coordination. Taking the setting of 7 suction nozzles 108 (corresponding to 7 cylinders 107) as an example, the suction nozzle module can realize that suction nozzles 1, 2, and 3 (such as: the 3 suction nozzles on the left) suck good chips, and suction nozzles 5, 6, and 7 (such as: the 3 suction nozzles on the right) suck defective chips; or suction nozzle 4 108 (that is, the suction nozzle in the middle) sucks chips alone; or seven suction nozzles 108 simultaneously suck chips and adjust the spacing before placing them into the tray or tape slot, etc. Various combination application scenarios.

[0043] Therefore, the multi-row, rotatable nozzle module with adjustable spacing according to the embodiment of the present invention can pick up multiple or single chips at a time, realizing actions such as picking up, moving, turning, and storing. At the same time, it can automatically adjust the nozzle spacing according to the different chip sizes and storage spacing differences to meet application scenarios such as tray loading and unloading, sorting and placing, and taping chip loading and unloading. According to production needs, a single nozzle can work independently, or multiple nozzles can work together, such as handling, sorting, tray placement, inspection, turning, etc., with a wide compatibility range (chip size 1mm*1mm to 40mm*40mm), easy adjustment, flexibility and high efficiency.

[0044] The main function of the nozzle lifting module 200 is to drive the nozzle rotation module 300 and the multi-nozzle module 100 to move up and down (in the Z direction) together, so as to adjust the height position of the multi-nozzle module 100. In this embodiment, the nozzle lifting module 200 includes a second mounting seat 201, a second linear guide 202, a lifting slide 203, a first servo motor 204, a first motor mounting bracket 205 and a ball screw nut pair 206. The second mounting seat 201 is the mounting base of the entire nozzle lifting module 200. The second linear guide 202 is arranged along the Z-axis direction and fixed on the second mounting seat 201. The lifting slide 203 is slidably connected to the second linear guide 202 up and down. The first servo motor 204 is fixed to the front top of the second mounting seat 201 through the first motor mounting bracket 205. The power output end of the first servo motor 204 is connected to the lifting slide 203 through the ball screw nut pair 206 and can drive the lifting slide 203 to move along the Z-axis direction. Specifically, the power output end of the first servo motor 204 is connected to the screw of the ball screw nut pair 206 through a coupling 207, and the nut of the ball screw nut pair 206 is fixedly connected to the lifting slide 203; the ends of the screw of the ball screw nut pair 206 are respectively connected to the second mounting seat 201 through a bearing seat 208, and one end of the screw passes through the bearing seat 208 and is connected to the coupling 207. When the multi-nozzle module 100 needs to be adjusted up and down (Z direction), the first servo motor 204 outputs torque, and the ball screw nut pair 206 converts the rotational motion of the first servo motor 204 into linear motion, driving the lifting slide 203 to move up and down (Z direction) along the second linear guide 202, thereby driving the nozzle rotation module 300 and the multi-nozzle module 100 to move up and down (Z direction) together.

[0045] Furthermore, considering the significant weight of the lift slide 203 and the components mounted thereon, two sets of symmetrically arranged tension spring assemblies 209 are designed between the lift slide 203 and the second mounting base 201. This balances the gravitational load of the lift slide 203 and the components mounted thereon (including the nozzle rotation module 300 and the multi-nozzle module 100) through spring tension. Specifically, the tension spring assembly 209 includes a tension spring 2091 and a tension spring seat 2092. The tension spring seat 2092 is fixed to the second mounting base 201. The upper end of the tension spring 2091 is connected to the tension spring seat 2092, and the lower end of the tension spring 2091 is connected to the upper end of the lift slide 203.

[0046] The main function of the nozzle rotation module 300 is to drive the entire multi-nozzle module 100 to rotate around the Z axis within 0 degrees to 270 degrees to adjust the direction of the chip. In this embodiment, the nozzle rotation module 300 includes a third mounting seat 301, a second servo motor 302, a second motor mounting bracket 303 and a hollow rotating platform 304; the third mounting seat 301 is fixed on the lifting slide 203, the second servo motor 302 is fixed to the third mounting seat 301 through the second motor mounting bracket 303, and the hollow rotating platform 304 is rotatably arranged at the bottom of the second motor mounting bracket 303. The power output end of the second servo motor 302 is connected to the hollow rotating platform 304 and can drive the hollow rotating platform 304 to rotate around the Z axis. When the direction of the multi-nozzle module 100 needs to be adjusted, the second servo motor 302 outputs torque to drive the hollow rotating platform 304 connected thereto to rotate around the Z axis, thereby driving the multi-nozzle module 100 connected to the hollow rotating platform 304 to rotate around the Z axis.

[0047] Exemplarily, in order to ensure that the components installed on the first mounting seat 101 are stable and reliable, the first mounting seat 101 includes a mounting top plate 1011, a mounting back plate 1012 and a mounting side plate 1013 that are interconnected. The mounting top plate 1011 is fixed on the hollow rotating platform 304, the first linear guide rail 106 is fixed on the outside of the mounting back plate 1012, and the second linear guide rail is fixed on the inside of the mounting back plate 1012; N cylinders 107 are arranged side by side in the horizontal direction in the space enclosed by the mounting top plate 1011, the mounting back plate 1012 and the mounting side plate 1013 to prevent the cylinder 107 and the suction nozzle 108 from being rubbed by the outside, thereby improving the safety of the structure.

[0048] For example, in order to ensure that the components installed on the second motor mounting bracket 303 are stable and reliable, the second motor mounting bracket 303 is composed of a motor mounting plate 3031, a reinforcing side plate 3032 and a reinforcing rib plate 3033; the motor mounting plate 3031 is fixed to the lower end of the lifting slide 203, the reinforcing side plate 3032 and the reinforcing rib plate 3033 are arranged on both sides of the second servo motor 302, the reinforcing side plate 3032 is connected between the motor mounting plate 3031 and the lifting slide 203, and the reinforcing rib plate 3033 is connected between the motor mounting plate 3031 and the lifting slide 203.

[0049] Exemplarily, the installation top plate 1011 is provided with a pipeline guide tube 1014 that is connected to the space enclosed by the installation top plate 1011, the installation back plate 1012, and the installation side plate 1013. The pipeline guide tube 1014 is inserted into the hollow area of ​​the hollow rotating platform 304. The motor mounting plate 3031 is provided with a wire hole 3034 that is connected to the hollow area of ​​the hollow rotating platform 304. This design allows the air pipes and sensor cables (such as signal cables and power cables) on the cylinder 107 and the suction nozzle 108 to be led above the motor mounting plate 3031, effectively reducing the disturbance of the air pipes and cables during the rotation of the multi-nozzle module 100.

[0050] Exemplarily, the nozzle rotation module 300 is provided with a first photoelectric sensor 305 for calibrating a reference origin of a rotation angle, so as to achieve precise control of the rotation position of the multi-nozzle module 100 .

[0051] Exemplarily, the multi-nozzle module 100 is provided with a second photoelectric sensor 110 for detecting the extended state of the nozzle 108 , so as to achieve precise control of the extension and retraction movement of the cylinder 107 .

[0052] Exemplarily, the multi-row spacing adjustable and rotatable nozzle module further includes a solenoid valve module 400, the solenoid valve module 400 includes a solenoid valve mounting bracket 401, a protective cover 402, a first solenoid valve group 403, a second solenoid valve group 404 and a terminal block 405, the solenoid valve mounting bracket 401 is fixed to the top of the rear side of the second mounting seat 201, the solenoid valve mounting bracket 401 is provided with a mounting platform 406, the protective cover 402 is covered on the mounting platform 406 and enclosed with the mounting platform 406 to form a accommodating cavity that can accommodate the first solenoid valve group 403, the second solenoid valve group 404 and the terminal block 405, the first solenoid valve group 4 03. The second solenoid valve group 404 and the terminal block 405 are both installed on the mounting platform 406; the solenoid valves of the first solenoid valve group 403 are connected one-to-one with the cylinders 107 through air circuits, thereby independently controlling the extension and retraction of the cylinders 107, driving the suction nozzles 108 to extend or retract; the solenoid valves of the second solenoid valve group 404 are connected one-to-one with the suction nozzles 108 through air circuits, thereby independently controlling the suction action of the suction nozzles 108, thereby realizing chip picking and placing; all sensor cables and solenoid valve cables are all connected to the terminal block 405, and the cables concentrated at the terminal block 405 are connected to the equipment circuit board through a drag chain.

[0053] Furthermore, in order to facilitate the connection of the air pipes and cables of the air sensors on the cylinder 107 and the suction nozzle 108 (such as signal lines and power lines) to the solenoid valve module 400, a wire passing bracket plate 700 is fixed on the motor mounting plate 3031. The wire passing bracket plate 700 is located above the wire passing hole 3034. The outer side of the solenoid valve mounting bracket 401 and the upper end of the lifting slide 203 are both fixed with electrical cable brackets 800.

[0054] In addition, if Figure 6 As shown, the multi-row, rotatable nozzle module of this embodiment with adjustable spacing can also be mounted on a matching linear module 500. The linear module 500 drives the entire nozzle module to move between various chip placement points, coordinating with the nozzle 108 to pick up, redirect, and place the chips. Specifically, multiple functions can be achieved, including chip redirection, sorting, and transfer of qualified products to packaging. A single nozzle 108 can operate, or multiple nozzles 108 can operate simultaneously, maximizing work efficiency.

[0055] In this embodiment, the linear module 500 installed on the gantry 600 drives the nozzle module to move (in the X direction) to the position above the material tray where the material needs to be taken; the nozzle lifting module 200 drives the multi-nozzle module 100 to descend as a whole (in the Z direction), and at the same time the second solenoid valve group 404 is actuated, the nozzle 108 air circuit generates a vacuum, the first solenoid valve is actuated, the cylinder 107 extends the air nozzle and contacts the chip, and the vacuum nozzle 108 adsorbs the chip; then the nozzle lifting module 200 reversely drives the multi-nozzle 108 assembly to rise as a whole (in the Z direction) to a safe height; the linear module 500 on the gantry 600 drives the nozzle module to move (in the X direction) and moves the nozzle module to the chip tray. Placement position (if the chip needs to be turned, the nozzle rotation module 300 can drive the chip to rotate to the required angle as a whole); at this time, the nozzle lifting module 200 drives the multi-nozzle module 100 to descend as a whole (Z direction) to the chip discharge height, and the second solenoid valve group 404 is activated again to break the vacuum and place the chip into the corresponding acupuncture point (such as the tape groove position, the TRAY plate corresponding acupuncture point); then the nozzle lifting module 200 is activated again, driving the multi-nozzle module 100 to rise as a whole (Z direction) to the safe position; then the linear module 500 drives the nozzle module to move (X direction) to the next material picking position, and repeats this action to complete the sorting, movement, placement and other actions of all chips.

[0056] During chip pickup, transport, and discharge, the display on the second solenoid valve provides real-time feedback on vacuum changes, enabling monitoring of whether each nozzle 108 is securing the chip, whether it is securely holding the chip, and whether any abnormalities, such as chip dropout, occur. The program can respond to this feedback with corresponding adjustments (e.g., alarms, resupply, etc.). If the spacing between nozzles 108 needs to be adjusted to change chip production specifications, the system can automatically adjust the spacing based on the chip's corresponding parameters. The system can also automatically control the movement of cylinder 107 based on the number of nozzles 108 required, adjusting the number of cylinders (nozzles 108) extended.

[0057] In summary, the embodiment of the present invention provides a multi-row spacing adjustable and rotatable suction nozzle module with compact structure, diverse functions (width and distance adjustment, multiple suction nozzles 108, rotation and direction change, etc.), easy installation, and diverse application scenarios. It can be used in application scenarios such as TRAY tray loading and unloading, sorting and placement, and taping and chip loading and unloading.

[0058] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0059] Obviously, those skilled in the art may make various modifications and variations to the present invention without departing from the spirit and scope of the present invention. Thus, if such modifications and variations fall within the scope of the claims of the present invention and their equivalents, the present invention is intended to include such modifications and variations.

Claims

1. A nozzle module with multiple rows of adjustable spacing and rotatable nozzles, characterized in that: It includes a multi-nozzle module, a nozzle lifting module and a nozzle rotating module. The multi-nozzle module is installed on the nozzle rotating module, and the nozzle rotating module can drive the multi-nozzle module to rotate around the Z axis; the nozzle rotating module is installed on the nozzle lifting module, and the nozzle lifting module can drive the nozzle rotating module to move along the Z axis. The multi-nozzle module includes a first mounting base, a screw motor, a screw nut base, a guide plate, a cam bearing, a first linear guide rail, a cylinder and a nozzle; The first mounting seat is connected to the nozzle rotating module, and the first linear guide rail is arranged along the Z-axis direction and fixed on the outer side of the first mounting seat; The guide plate is connected to the first linear guide rail in a slidable manner up and down, the screw motor is fixed to the outside of the first mounting seat, the output screw of the screw motor is arranged downward and connected to the screw nut seat, and the screw nut seat is fixed to the guide plate; There are N cylinders, where N is an odd number; the N cylinders are arranged side by side in the horizontal direction on the inner side of the first mounting base, wherein the cylinder located in the middle is fixedly connected to the first mounting base, and the remaining cylinders located on both sides are connected to the first mounting base in a horizontally movable manner via linear guide sliders; The guide plate is provided with N-1 guide grooves arranged at intervals in a fan shape. Each cylinder located on both sides is connected to a cam bearing on a side close to the guide groove. Each cam bearing is movably disposed in its corresponding guide groove. Each cam bearing has the same horizontal movement distance in its respective guide groove. When the guide plate slides up and down, the cam bearings move relative to each other in the guide groove, thereby driving the cylinders to adjust to equal distances. A suction nozzle is respectively installed on the power output end of each cylinder.

2. The multi-row spacing adjustable and rotatable nozzle module according to claim 1, characterized in that: The nozzle lifting module includes a second mounting seat, a second linear guide, a lifting slide, a first servo motor, a first motor mounting bracket and a ball screw nut pair. The second linear guide is arranged along the Z-axis direction and is fixed on the second mounting seat. The lifting slide can be slidably connected to the second linear guide rail up and down. The first servo motor is fixed to the front top of the second mounting seat through the first motor mounting bracket. The power output end of the first servo motor is connected to the lifting slide through the ball screw nut pair and can drive the lifting slide to move along the Z-axis direction.

3. The multi-row spacing adjustable and rotatable nozzle module according to claim 2, characterized in that: Two groups of tension spring assemblies arranged symmetrically between the lifting slide and the second mounting seat are provided, and the tension spring assembly includes a tension spring and a tension spring seat. The tension spring seat is fixed on the second mounting seat, the upper end of the tension spring is connected to the tension spring seat, and the lower end of the tension spring is connected to the upper end of the lifting slide.

4. The multi-row spacing adjustable and rotatable nozzle module according to claim 2, characterized in that: The nozzle rotation module includes a third mounting seat, a second servo motor, a second motor mounting bracket and a hollow rotating platform; the third mounting seat is fixed on the lifting slide, the second servo motor is fixed to the third mounting seat through the second motor mounting bracket, and the hollow rotating platform is rotatably arranged at the bottom of the second motor mounting bracket, and the power output end of the second servo motor is connected to the hollow rotating platform and can drive the hollow rotating platform to rotate around the Z axis.

5. The multi-row spacing adjustable and rotatable nozzle module according to claim 4, characterized in that: The first mounting seat includes a mounting top plate, a mounting back plate and a mounting side plate that are interconnected. The mounting top plate is fixed to the hollow rotating platform, the first linear guide rail is fixed to the outside of the mounting back plate, and the second linear guide rail is fixed to the inside of the mounting back plate; the N cylinders are arranged side by side in the horizontal direction in the space formed by the mounting top plate, the mounting back plate and the mounting side plates.

6. The multi-row spacing adjustable and rotatable nozzle module according to claim 5, characterized in that: The second motor mounting bracket is composed of a motor mounting plate, a reinforcing side plate and a reinforcing rib plate; the motor mounting plate is fixed to the lower end of the lifting slide, the reinforcing side plate and the reinforcing rib plate are arranged on both sides of the second servo motor, the reinforcing side plate is connected between the motor mounting plate and the lifting slide, and the reinforcing rib plate is connected between the motor mounting plate and the lifting slide.

7. The multi-row spacing adjustable and rotatable nozzle module according to claim 6, characterized in that: A pipeline guide tube is provided on the mounting top plate and is connected to the space formed by the mounting top plate, the mounting back plate and the mounting side plate. The pipeline guide tube is inserted into the hollow area of ​​the hollow rotating platform. A wire passing hole is provided on the motor mounting plate and is connected to the hollow area of ​​the hollow rotating platform. A wire passing bracket plate is fixedly provided on the motor mounting plate, and the wire passing bracket plate is located above the wire passing hole.

8. The multi-row spacing adjustable and rotatable nozzle module according to claim 4, characterized in that: The nozzle rotation module is provided with a first photoelectric sensor for calibrating a rotation angle reference origin.

9. The multi-row spacing adjustable and rotatable nozzle module according to claim 1, characterized in that: The multi-nozzle module is provided with a second photoelectric sensor for detecting the extended state of the nozzles.

10. The multi-row spacing adjustable and rotatable nozzle module according to claim 2, characterized in that: It also includes a solenoid valve module, which includes a solenoid valve mounting bracket, a protective cover, a first solenoid valve group, a second solenoid valve group and a terminal block. The solenoid valve mounting bracket is fixed to the top of the rear side of the second mounting seat. The solenoid valve mounting bracket is provided with a mounting platform. The protective cover is provided on the mounting platform and is surrounded by the mounting platform to form a accommodating cavity that can accommodate the first solenoid valve group, the second solenoid valve group and the terminal block. The first solenoid valve group, the second solenoid valve group and the terminal block are all installed on the mounting platform. The solenoid valves of the first solenoid valve group are connected to the cylinders one by one through an air path, and the solenoid valves of the second solenoid valve group are connected to the nozzles one by one through an air path. All sensor cables and solenoid valve cables are connected to the terminal block. The cables concentrated at the terminal block are connected to the equipment circuit board through a drag chain.

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