Chip taking and placing moving device and translation type chip sorting machine

Abstract

The utility model relates to a chip pick-and-place moving device and a translation type chip sorting machine, and the chip pick-and-place moving device comprises a suction nozzle assembly, an X-axis supporting seat, a first linear motor, a Y-axis supporting seat, a second linear motor, a Z-axis supporting seat and a Z-axis driving mechanism. The Z-axis driving mechanism and the suction nozzle assembly are both arranged on the Z-axis supporting seat, and the Z-axis driving mechanism is used for driving the suction nozzle assembly to move on the Z-axis supporting seat in the Z direction. The first linear motor and the Z-axis supporting seat are both arranged on the X-axis supporting seat, and the first linear motor is used for driving the Z-axis supporting seat to move on the X-axis supporting seat in the X direction. The second linear motor and the X-axis supporting seat are both arranged on the Y-axis supporting seat, and the second linear motor is used for driving the X-axis supporting seat to move on the Y-axis supporting seat in the Y direction. Wherein every two of the X direction, the Y direction and the Z direction are perpendicular to each other. According to the technical scheme, the motion precision of the suction nozzle assembly in the X direction and the Y direction can be improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to chip sorting technical field, in particular to a kind of chip pick-and-place mobile device and translation type chip sorting machine. BACKGROUND

[0002] Currently, translation type chip sorting machine has chip pick-and-place mobile device, chip pick-and-place mobile device has suction nozzle assembly, suction nozzle assembly is used to suck chip. Chip pick-and-place mobile component has belt drive mechanism, and suction nozzle assembly is moved along X direction and Y direction by belt drive mechanism. Among them, the motion precision of belt drive is low, cannot realize high-precision displacement transmission, so it needs to solve this situation. UTILITY MODEL CONTENT

[0003] Therefore, the utility model provides a kind of chip pick-and-place mobile device and translation type chip sorting machine, and the main technical problem to be solved is: how to improve the motion precision of suction nozzle assembly along X direction and Y direction.

[0004] To achieve the above purpose, the utility model mainly provides the following technical scheme:

[0005] The embodiment of the utility model provides a kind of chip pick-and-place mobile device, it includes suction nozzle assembly, X axis support seat, first linear motor, Y axis support seat, second linear motor, Z axis support seat and Z axis drive mechanism;

[0006] The suction nozzle assembly is used to suck chip;

[0007] The Z axis drive mechanism and the suction nozzle assembly are all arranged on the Z axis support seat, and the Z axis drive mechanism is used to drive the suction nozzle assembly to move along Z direction on the Z axis support seat;

[0008] The first linear motor and the Z axis support seat are all arranged on the X axis support seat, and the first linear motor is used to drive the Z axis support seat to move along X direction on the X axis support seat;

[0009] The second linear motor and the X axis support seat are all arranged on the Y axis support seat, and the second linear motor is used to drive the X axis support seat to move along Y direction on the Y axis support seat;Wherein, X direction, Y direction and Z direction are perpendicular to each other.

[0010] Optionally, the suction nozzle assembly includes more than two suction nozzles, and each suction nozzle is used to suck different chips;

[0011] The Z-axis driving mechanism comprises nozzle driving structures, the number of the nozzle driving structures is equal to the number of the nozzles, and each nozzle driving structure corresponds to one nozzle.

[0012] Optionally, the nozzle driving structure comprises a motor, a driving pulley, a driven pulley and a belt.

[0013] The motor is in driving connection with the driving pulley to drive the driving pulley to rotate, and the driving pulley drives the driven pulley to rotate through the belt.

[0014] The nozzle is arranged on the belt to move along the Z direction under the driving of the belt.

[0015] Optionally, the distance between each two adjacent nozzles is adjustable.

[0016] Optionally, the number of the nozzles is four, which are a first nozzle, a second nozzle, a third nozzle and a fourth nozzle; the first nozzle, the second nozzle, the third nozzle and the fourth nozzle are arranged in sequence along a first direction.

[0017] The first nozzle and the third nozzle can relatively approach or move away from the second nozzle along the first direction, and the fourth nozzle can relatively approach or move away from the third nozzle along the first direction.

[0018] Optionally, the chip pick-and-place moving device further comprises a first belt driving mechanism, the first belt driving mechanism has a rotatable first belt, the first belt has opposite first and second belt sections, the movement directions of the first and second belt sections are opposite, the first nozzle is arranged on the first belt section, the third nozzle is arranged on the second belt section, and the first and second belt sections drive the first and third nozzles to simultaneously approach or move away from the second nozzle along the first direction.

[0019] Optionally, the chip pick-and-place moving device further comprises a second belt driving mechanism, the second belt driving mechanism has a rotatable second belt, and the fourth nozzle is arranged on the second belt to relatively approach or move away from the third nozzle along the first direction under the driving of the second belt.

[0020] Optionally, when the chip pick-and-place moving device further comprises a first belt driving mechanism, the first belt driving mechanism has a rotatable first belt, the first belt has opposite first and second belt sections, the movement directions of the first and second belt sections are opposite; the first suction nozzle is arranged on the first belt section, and the third suction nozzle is arranged on the second belt section; when the first and second belt sections drive the first and third suction nozzles to simultaneously approach or simultaneously move away from the second suction nozzle along the first direction, the first belt driving mechanism has a first driving pulley and a first driven pulley, the first driving pulley and the first driven pulley are drivingly connected through the first belt; the second belt driving mechanism has a second driving pulley and a second driven pulley, the second driving pulley and the second driven pulley are drivingly connected through the second belt.

[0021] Optionally, the first driving pulley and the second driving pulley are sleeved on the same driving shaft, and the first driven pulley and the second driven pulley are sleeved on the same driven shaft.

[0022] Optionally, the X-axis support seat is provided with a first grating, and the Z-axis support seat is provided with a first reading head, and the first reading head is used for reading data on the first grating.

[0023] Optionally, the Y-axis support seat is provided with a second grating, and the X-axis support seat is provided with a second reading head, and the second reading head is used for reading data on the second grating.

[0024] The utility model also provides a kind of translation type chip sorting machine, it includes the chip pick-and-place moving device of any one of the above.

[0025] By the above technical solution, the chip pick-and-place moving device and the translation type chip sorting machine have at least the following beneficial effects:

[0026] 1. Compared with the prior art, the first linear motor and the second linear motor are used to drive the suction nozzle assembly to move along the X direction and the Y direction, the movement precision of the linear motor is higher, and the movement precision of the suction nozzle assembly along the X direction and the Y direction is improved.

[0027] 2. The first linear motor, the first grating and the first reading head cooperate to realize accurate transportation of the chip with a large stroke precision of 0.01 mm in the X direction; the second linear motor, the second grating and the second reading head cooperate to realize accurate transportation of the chip with a large stroke precision of 0.01 mm in the Y direction.

[0028] 3、The interval between each two adjacent suction nozzles is adjustable, and the simultaneous grabbing demand for various specifications of trays can be realized.

[0029] The above description is only a summary of the technical scheme of the present application, in order to more clearly understand the technical means of the present application, and can be implemented according to the content of the specification, the following will be described in detail with the preferred embodiment of the present application and the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0030] In order to more clearly illustrate the technical scheme in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiment or the prior art description, obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the structure shown in these drawings without creative labor.

[0031] Figure 1 It is a structural schematic view of a chip taking and placing mobile device provided by an embodiment of the present application;

[0032] Figure 2 It is an enlarged schematic view of A in the figure Figure 1

[0033] Figure 3 It is a structural schematic view of X-axis support seat;

[0034] Figure 4 It is an enlarged schematic view of B in the figure Figure 3

[0035] Figure 5 It is an assembly schematic view of Z-axis support seat and suction nozzle assembly;

[0036] Figure 6 It is a schematic view of suction nozzle driving structure;

[0037] Figure 7 It is a partial structural schematic view of the chip taking and placing mobile device of the present application;

[0038] Figure 8 It is an assembly schematic view of the first driving pulley and the second driving pulley and the driving shaft;

[0039] Figure 9 It is an assembly schematic view of the first driven pulley and the second driven pulley and the driven shaft.

[0040] ​​Reference: 1, Z-axis support seat; 2, X-axis support seat; 3, suction nozzle assembly; 4, Z-axis driving mechanism; 5, first linear motor; 6, Y-axis support seat; 7, second linear motor; 8, second grating; 9, second reading head; 10, first grating; 11, first reading head; 12, first belt; 13, second belt; 14, tension spring; 15, mounting block; 16, first mounting block; 17, second mounting block; 18, third mounting block; 19, first driving pulley; 20, second driving pulley; 21, driving axle; 22, first driven pulley; 23, second driven pulley; 24, driven axle; 30, suction nozzle; 31, first suction nozzle; 32, second suction nozzle; 33, third suction nozzle; 34, fourth suction nozzle; 41, suction nozzle driving structure; 121, first belt section; 122, second belt section; 410, motor; 411, driving pulley; 412, belt; 413, driven pulley. DETAILED DESCRIPTION

[0041] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0042] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative positional relationship, movement condition, etc. between the components in a certain posture (as shown in the drawings), and if the certain posture changes, the directional indications also change accordingly.

[0043] In addition, if the embodiments of the present application involve descriptions of "first", "second", etc., the descriptions of "first", "second", etc. are only for description purposes, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first" and "second" can explicitly or implicitly include at least one of the features. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the fact that a person skilled in the art can realize it, and when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist and is not within the scope of protection required by the present application.

[0044] For example, Figure 1As shown, one embodiment of the utility model discloses a chip taking and placing mobile device, it includes suction nozzle assembly 3, X axis support seat 2, first linear motor 5, Y axis support seat 6, second linear motor 7, Z axis support seat 1 and Z axis drive mechanism 4. Suction nozzle assembly 3 is used to suck chip. Z axis drive mechanism 4 and suction nozzle assembly 3 are all arranged on Z axis support seat 1, and Z axis drive mechanism 4 is used to drive suction nozzle assembly 3 to move along Z direction on Z axis support seat 1. First linear motor 5 and Z axis support seat 1 are all arranged on X axis support seat 2, and first linear motor 5 is used to drive Z axis support seat 1 to move along X direction on X axis support seat 2. Second linear motor 7 and X axis support seat 2 are all arranged on Y axis support seat 6, and second linear motor 7 is used to drive X axis support seat 2 to move along Y direction on Y axis support seat 6. Wherein, X direction, Y direction and Z direction are perpendicular to each other two by two.

[0045] In the above example, Z axis drive mechanism 4 can drive suction nozzle assembly 3 to move along Z direction, first linear motor 5 can drive Z axis support seat 1 to move, make Z axis support seat 1 drive suction nozzle assembly 3 on it together along X direction motion;Second linear motor 7 can drive X axis support seat 2 to move, make X axis support seat 2 drive suction nozzle assembly 3 on it together along Y direction motion, to realize the translational motion of suction nozzle assembly 3 in X direction, Y direction and Z direction, to facilitate suction nozzle assembly 3 to suck the chip in tray, and the chip is sent to the preset position.

[0046] Relative to the mode that the suction nozzle assembly 3 is driven along X direction and Y direction by belt in prior art, the utility model drives the suction nozzle assembly 3 along X direction and Y direction by first linear motor 5 and second linear motor 7, and the motion precision of linear motor is higher, thereby can improve the motion precision of suction nozzle assembly 3 along X direction and Y direction.

[0047] In some embodiments, as shown in Figure 3 And Figure 4 As shown, the first grating 10 can be provided on the aforementioned X axis support seat 2, and the first reading head 11 is provided on the aforementioned Z axis support seat 1, and the first reading head 11 is used to read the data on the first grating 10, to realize the accurate positioning of the suction nozzle assembly 3 in the X direction.

[0048] In the above example, the first linear motor 5, the first grating 10 and the first reading head 11 can realize the accurate delivery of the chip in the X direction with a large stroke accuracy of 0.01 mm.

[0049] In some embodiments, as shown in Figure 1 And Figure 2As shown, the aforementioned Y-axis support seat 6 can be provided with a second grating 8, and the X-axis support seat 2 is provided with a second reading head 9, which is used to read the data on the second grating 8, so as to realize the accurate positioning of the suction nozzle assembly 3 in the Y direction.

[0050] In the above example, the second linear motor 7 cooperates with the second grating 8 and the second reading head 9 to realize the accurate conveying of the chip in the Y direction with a large stroke accuracy of 0.01 mm.

[0051] In order to improve the movement accuracy of the suction nozzle assembly 3, in some embodiments, the aforementioned Z-axis support seat 1 can be provided with a Z-axis guide rail to guide the movement of the suction nozzle assembly 3 in the Z direction. The aforementioned X-axis support seat 2 can be provided with an X-axis guide rail to guide the movement of the Z-axis support seat 1 in the X direction. The aforementioned Y-axis support seat 6 can be provided with a Y-axis guide rail to guide the movement of the X-axis support seat 2 in the Y direction.

[0052] In some embodiments, as shown, Figure 5 The aforementioned suction nozzle assembly 3 can include two or more suction nozzles 30, each of which is used to suck different chips. The aforementioned Z-axis driving mechanism 4 can include a suction nozzle driving structure 41, the number of which is equal to and corresponds to the number of the aforementioned suction nozzles 30. The Z-axis driving mechanism 4 drives the corresponding suction nozzle 30 to move in the Z direction through each suction nozzle driving structure 41.

[0053] In the above example, by providing a larger number of suction nozzles 30, the suction nozzle assembly 3 can suck a larger number of chips at a time, so as to improve the efficiency of the suction nozzle assembly 3 in sucking chips.

[0054] In order to realize the function of the aforementioned suction nozzle driving structure 41, in some embodiments, as shown, Figure 6 The aforementioned suction nozzle driving structure 41 can include a motor 410, a driving pulley 411, a driven pulley 413 and a belt 412. The motor 410 can be a stepper motor or the like. The motor 410 is drivingly connected with the driving pulley 411 to drive the driving pulley 411 to rotate. The driving pulley 411 drives the driven pulley 413 to rotate through the belt 412. The aforementioned suction nozzle 30 is arranged on the belt 412 to move in the Z direction under the driving of the belt 412.

[0055] In the above example, the motor 410 drives the driving pulley 411 to rotate, and the driving pulley 411 drives the belt 412 to rotate in cooperation with the driven pulley 413, and the belt 412 drives the suction nozzle 30 to move in the Z direction, thereby realizing the function of the suction nozzle driving structure 41 driving the corresponding suction nozzle 30 to move in the Z direction, and realizing the pick-and-place function of the suction nozzle 30.

[0056] In some embodiments, as shown, Figure 6As shown, the aforementioned belt 412 can be provided with a mounting block 15, which can be detachably fixed on the belt 412 by screws, and the aforementioned suction nozzle 30 is arranged on the mounting block 15 to be arranged on the belt 412 through the mounting block 15. Through the arrangement of the mounting block 15, the installation of the suction nozzle 30 is facilitated.

[0057] As shown, Figure 6 the aforementioned suction nozzle driving structure 41 can further include a tension spring 14, one end of which is connected with the mounting block 15, and the other end of which is connected with the Z-axis support seat 1. The aforementioned Z direction is the vertical direction, and the tension spring 14 is used to exert a vertical upward force on the mounting block 15 to balance the influence of the gravity of the suction nozzle 30 on the movement.

[0058] In some embodiments, the spacing between each two adjacent suction nozzles 30 is adjustable to meet the simultaneous grabbing requirements of various specifications of trays.

[0059] In a specific application example, as shown, Figure 5 the number of the aforementioned suction nozzles 30 can be four, which are a first suction nozzle 31, a second suction nozzle 32, a third suction nozzle 33 and a fourth suction nozzle 34. The first suction nozzle 31, the second suction nozzle 32, the third suction nozzle 33 and the fourth suction nozzle 34 are sequentially and spaced arranged along a first direction. The first direction can be the X direction. The first suction nozzle 31 and the third suction nozzle 33 can be relatively close to or away from the second suction nozzle 32 along the first direction, so that the spacing between the first suction nozzle 31 and the second suction nozzle 32 and the spacing between the second suction nozzle 32 and the third suction nozzle 33 are adjustable. The fourth suction nozzle 34 can be relatively close to or away from the third suction nozzle 33 along the first direction, so that the spacing between the third suction nozzle 33 and the fourth suction nozzle 34 is adjustable.

[0060] In the above example, since the spacing between the first suction nozzle 31 and the second suction nozzle 32, the second suction nozzle 32 and the third suction nozzle 33, and the third suction nozzle 33 and the fourth suction nozzle 34 are adjustable, the function of adjusting the spacing between each two adjacent suction nozzles 30 is realized.

[0061] In some embodiments, as shown, Figure 7 the aforementioned chip picking and placing moving device can further include a first belt driving mechanism, which has a rotatable first belt 12 having opposite first and second belt segments 121 and 122. The movement directions of the first and second belt segments 121 and 122 are opposite. The aforementioned first suction nozzle 31 is arranged on the first belt segment 121, and the third suction nozzle 33 is arranged on the second belt segment 122. The first and second belt segments 121 and 122 drive the first and third suction nozzles 31 and 33 to simultaneously approach or simultaneously move away from the second suction nozzle 32 along the first direction.

[0062] In the above example, by arranging the first suction nozzle 31 and the third suction nozzle 33 on the same first belt 12, the first belt 12 can drive the first suction nozzle 31 and the third suction nozzle 33 to move simultaneously, so that the first suction nozzle 31 and the third suction nozzle 33 can approach or move away from the second suction nozzle 32 simultaneously, and thus the interval between the first suction nozzle 31 and the second suction nozzle 32 and the interval between the second suction nozzle 32 and the third suction nozzle 33 can be adjusted simultaneously, and the adjustment efficiency is high.

[0063] In some embodiments, as shown in the above example, the chip pick-and-place moving device further comprises a second belt 13 driving mechanism having a rotatable second belt 13. The fourth suction nozzle 34 is arranged on the second belt 13 to relatively approach or move away from the third suction nozzle 33 along the first direction under the driving of the second belt 13. Figure 7 In the above example, the second belt 13 drives the fourth suction nozzle 34 to relatively approach or move away from the third suction nozzle 33, so that the interval between the third suction nozzle 33 and the fourth suction nozzle 34 can be adjusted.

[0064] It should be noted that the first suction nozzle 31 can be mounted on the first belt segment 121 through the first mounting block 16. The third suction nozzle 33 can be mounted on the second belt segment 122 through the second mounting block 17. The fourth suction nozzle 34 can be mounted on the second belt 13 through the third mounting block 18.

[0065] In some embodiments, when the chip pick-and-place moving device further comprises a first belt driving mechanism having a rotatable first belt 12, the first belt 12 has opposite first and second belt segments 121 and 122, the movement directions of the first and second belt segments 121 and 122 are opposite; the first suction nozzle 31 is arranged on the first belt segment 121, and the third suction nozzle 33 is arranged on the second belt segment 122; when the first and second belt segments 121 and 122 drive the first suction nozzle 31 and the third suction nozzle 33 to approach or move away from the second suction nozzle 32 simultaneously along the first direction, the first belt driving mechanism has a first driving pulley 19 and a first driven pulley 22, which are drivingly connected through the first belt 12. The second belt driving mechanism has a second driving pulley 20 and a second driven pulley 23, which are drivingly connected through the second belt 13. The first driving pulley 19 and the second driving pulley 20 are sleeved on the same driving shaft 21, and the first driven pulley 22 and the second driven pulley 23 are sleeved on the same driven shaft 24.

[0066]

[0067] ​In the above example, when the driving axle 21 rotates to one side of the circumferential direction, such as clockwise, the driving axle 21 drives the first belt 12 and the second belt 13 to rotate clockwise, at this time, the first belt 12 drives the first suction nozzle 31 to move away from the second suction nozzle 32 through the first belt section 121, and also drives the second suction nozzle 32 to move away from the second suction nozzle 32 through the second belt section 122; at the same time, the second belt 13 also drives the fourth suction nozzle 34 to move away from the third suction nozzle 33, so as to simultaneously increase the distance between each two adjacent suction nozzles 30. When the driving axle 21 rotates to the other side of the circumferential direction, such as counterclockwise, the driving axle 21 drives the first belt 12 and the second belt 13 to rotate counterclockwise, at this time, the first belt 12 drives the first suction nozzle 31 to move close to the second suction nozzle 32 through the first belt section 121, and also drives the second suction nozzle 32 to move close to the second suction nozzle 32 through the second belt section 122; at the same time, the second belt 13 also drives the fourth suction nozzle 34 to move close to the third suction nozzle 33, so as to simultaneously reduce the distance between each two adjacent suction nozzles 30.

[0068] The utility model also provides a kind of translation formula chip sorting machine, it can include the chip taking and placing mobile device of any one of above described. Among them, since translation formula chip sorting machine adopts the chip taking and placing mobile device described above, relative to the mode that suction nozzle assembly 3 is driven to move along X direction and Y direction in prior art using belt, the utility model uses first linear motor 5 and second linear motor 7 drive suction nozzle assembly 3 to move along X direction and Y direction, and the motion precision of linear motor is higher, so as to improve the motion precision of suction nozzle assembly 3 along X direction and Y direction.

[0069] The above is only the preferred embodiment of the utility model, and does not limit the patent range of the utility model, and any equivalent structural transformation made under the utility model concept of the utility model, or direct / indirect application in other related technical fields is included in the patent protection range of the utility model.

Claims

1. A chip pick-and-place mobile device, comprising: The chip pick-and-place mobile device comprises a suction nozzle assembly (3), an X-axis support base (2), a first linear motor (5), a Y-axis support base (6), a second linear motor (7), a Z-axis support base (1) and a Z-axis driving mechanism (4). The suction nozzle assembly (3) is used for sucking chips. The Z-axis driving mechanism (4) and the suction nozzle assembly (3) are arranged on the Z-axis support base (1), and the Z-axis driving mechanism (4) is used for driving the suction nozzle assembly (3) to move along the Z direction on the Z-axis support base (1). The first linear motor (5) and the Z-axis support base (1) are arranged on the X-axis support base (2), and the first linear motor (5) is used for driving the Z-axis support base (1) to move along the X direction on the X-axis support base (2). The second linear motor (7) and the X-axis support base (2) are arranged on the Y-axis support base (6), and the second linear motor (7) is used for driving the X-axis support base (2) to move along the Y direction on the Y-axis support base (6).

2. The chip pick-and-place mobile device according to claim 1, wherein The suction nozzle assembly (3) comprises two or more suction nozzles (30), each of which is used for sucking different chips. The Z-axis driving mechanism (4) comprises a plurality of nozzle driving structures (41), the number of the nozzle driving structures (41) is equal to the number of the suction nozzles (30), and each nozzle driving structure (41) is used for driving a corresponding suction nozzle (30) to move along the Z direction.

3. The chip pick-and-place mobile device according to claim 2, wherein The nozzle driving structure (41) comprises a motor (410), a driving pulley (411), a driven pulley (413) and a belt (412). The motor (410) is drivingly connected with the driving pulley (411) to drive the driving pulley (411) to rotate, and the driving pulley (411) drives the driven pulley (413) to rotate through the belt (412). The suction nozzle (30) is arranged on the belt (412) to move along the Z direction under the driving of the belt (412).

4. The chip pick-and-place mobile device according to claim 2 or 3, wherein The distance between each two adjacent suction nozzles (30) is adjustable.

5. The chip pick-and-place mobile device according to claim 4, wherein The number of the suction nozzles (30) is four, which are a first suction nozzle (31), a second suction nozzle (32), a third suction nozzle (33) and a fourth suction nozzle (34), and the first suction nozzle (31), the second suction nozzle (32), the third suction nozzle (33) and the fourth suction nozzle (34) are arranged in sequence along a first direction. The first suction nozzle (31) and the third suction nozzle (33) can relatively approach or move away from the second suction nozzle (32) along the first direction, and the fourth suction nozzle (34) can relatively approach or move away from the third suction nozzle (33) along the first direction.

6. The chip pick-and-place mobile device of claim 5, wherein, The first belt driving mechanism has a rotatable first belt (12) with opposite first and second belt sections (121, 122) whose movement directions are opposite; the first suction nozzle (31) is arranged on the first belt section (121), and the third suction nozzle (33) is arranged on the second belt section (122); the first and second belt sections (121, 122) drive the first and third suction nozzles (31, 33) to simultaneously approach or simultaneously move away from the second suction nozzle (32) along the first direction.

7. The chip pick-and-place mobile device of claim 5 or 6, wherein, The second belt driving mechanism has a rotatable second belt (13) on which the fourth suction nozzle (34) is arranged to relatively approach or move away from the third suction nozzle (33) along the first direction under the driving of the second belt (13).

8. The chip pick-and-place mobile device of claim 7, wherein, When the chip picking and placing moving device further comprises a first belt driving mechanism having a rotatable first belt (12) with opposite first and second belt sections (121, 122) whose movement directions are opposite; the first suction nozzle (31) is arranged on the first belt section (121), and the third suction nozzle (33) is arranged on the second belt section (122); the first and second belt sections (121, 122) drive the first and third suction nozzles (31, 33) to simultaneously approach or simultaneously move away from the second suction nozzle (32) along the first direction, the first belt driving mechanism has a first driving pulley (19) and a first driven pulley (22) which are drivingly connected through the first belt (12); the second belt driving mechanism has a second driving pulley (20) and a second driven pulley (23) which are drivingly connected through the second belt (13); Wherein, the first driving pulley (19) and the second driving pulley (20) are sleeved on the same driving shaft (21), and the first driven pulley (22) and the second driven pulley (23) are sleeved on the same driven shaft (24).

9. The chip picking and placing moving device according to any one of claims 1-3, 5-6, 8, wherein, The X-axis support seat (2) is provided with a first grating (10), and the Z-axis support seat (1) is provided with a first reading head (11) for reading data on the first grating (10). And / or, the Y-axis support seat (6) is provided with a second grating (8), and the X-axis support seat (2) is provided with a second reading head (9), and the second reading head (9) is used for reading data on the second grating (8).

10. A translational chip handler characterized by, The chip pick-and-place mobile device of any one of claims 1-9.

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