A PCBA sorting machine using flexible jaws

Abstract

The present invention discloses a PCBA sorting machine using flexible jaws, which includes a conveyor line for conveying the cut PCBA, a dynamic vision tracking function component arranged above the conveyor line for detecting and positioning the position of the PCBA, a flexible clamping mechanism for flexibly clamping and sorting the PCBA on the conveyor line, and a tray feeding mechanism for driving the tray to receive the sorted PCBA. The present invention identifies the position of the PCBA on the conveyor line through the dynamic vision tracking function component, and then the flexible clamping mechanism clamps the components on the PCBA to perform PCBA clamping and sorting. Cooperating with the spider manipulator can meet the requirements of high-speed clamping and placement, improve the sorting efficiency, the spacing position of the flexible jaws is adjustable, which can meet the clamping requirements of different types of PCBA, and enables the production line to change the production line.

Description

Technical Field

[0001] The present invention relates to the technical field of PCB board manufacturing, and particularly relates to a PCBA sorting machine using flexible jaws. Background Art

[0002] At present, PCBA mostly adopts the panel production mode. After the panel is divided into individual PCBA by a panel cutting machine, it flows out together with the scrap edge. It is necessary to sort out the PCBA, scan the code and place it on a tray. Now, some PCBA are relatively heavy. If the suction method is used, the PCBA is likely to fall off, which cannot meet the requirements of high-speed sorting. Moreover, the PCBA after the panel cutting process is still arranged according to the panel layout structure, and the distance between products is only the distance of one cutting gap. This layout also causes difficulties in clamping the PCBA. It is very difficult to layout a clamping structure to clamp the edge of the PCBA board, resulting in low sorting efficiency of the PCBA and inability to meet the production requirements of the production line. Summary of the Invention

[0003] Technical Objective: Aiming at the deficiencies that when the existing PCBA panel cutting uses a suction cup to suck, it is easy to fall off during high-speed operation, the reliability is not high, and the separation gap is small after PCBA cutting, which is not convenient for clamping the board edge and affects the sorting efficiency, the present invention discloses a PCBA sorting machine using flexible jaws to clamp the components on the PCBA to achieve PCBA picking and sorting, and improve the sorting efficiency and clamping reliability.

[0004] Technical Solution: To achieve the above technical objective, the present invention adopts the following technical solution:

[0005] A PCBA sorting machine using flexible jaws includes a conveyor line for conveying the PCBA after cutting, a dynamic vision tracking function component arranged above the conveyor line for detecting and positioning the position of the PCBA, a flexible clamping mechanism for flexibly clamping and sorting the PCBA on the conveyor line, and a tray feeding mechanism for driving the tray to receive the sorted PCBA. The position of the PCBA on the conveyor line is obtained by the dynamic vision tracking function component, and the PCBA is clamped and conveyed by the flexible clamping mechanism; the flexible clamping mechanism includes a spider robot, a jaw plate arranged at the end of the spider robot, and flexible jaws. The jaw plate is provided with a Y-axis adjustment mechanism for adjusting the position of the flexible jaws in the Y-axis direction, and an X-axis adjustment mechanism for adjusting the position of the flexible jaws in the X-axis direction is arranged at the driving end of the Y-axis adjustment mechanism. The flexible jaws are fixed at the driving end of the X-axis adjustment mechanism, and the position of the flexible jaws on the jaw plate is adjusted by the X-axis adjustment mechanism and the Y-axis adjustment mechanism.

[0006] Preferably, the Y-axis adjustment mechanism of the present invention includes a Y-direction adjustment screw provided on the jaw chuck, and a Y-direction adjustment block screwed onto the Y-axis adjustment screw. The X-axis adjustment mechanism is fixed to the Y-direction adjustment block. An annular groove is provided at the end of the Y-direction adjustment screw along the circumferential direction, and the Y-direction adjustment screw is rotatably connected to the jaw chuck through the annular groove.

[0007] Preferably, the X-axis adjustment mechanism of the present invention includes a jaw mounting bracket and a first X-direction adjustment screw and a second X-direction adjustment screw arranged along the X-direction on the jaw mounting bracket. The flexible jaws are connected in cooperation with the two X-direction adjustment screws through jaw adjustment blocks and jaw guide blocks. A screw hole is provided in the jaw adjustment block, and by rotating the corresponding X-direction adjustment screw, the jaw adjustment block is driven to move along the X-direction. The jaw adjustment blocks and jaw guide blocks of the two flexible jaws in the same group are arranged staggeredly.

[0008] Preferably, the jaw mounting bracket of the present invention is provided with a T-shaped guide block on the side close to the jaw chuck, and the jaw chuck is provided with a guide groove for the T-shaped guide block to pass through. The guide groove is parallel to the Y-direction, and through the cooperation of the T-shaped guide block and the guide groove, the movement of the X-axis adjustment mechanism along the Y-direction is guided.

[0009] Preferably, the number of the flexible jaws of the present invention is two groups, and the two groups of flexible jaws are respectively located in the half area of the jaw chuck, and scales are symmetrically arranged along the central direction on the jaw chuck.

[0010] Preferably, the conveyor line of the present invention uses a flat belt for conveying. An infeed sensor, a dynamic tracking vision trigger sensor, a rotary encoder, and an outfeed fiber optic sensor are arranged along the conveying direction of the flat belt. The infeed sensor is arranged at the entrance of the flat belt. After detecting that the material enters the flat belt, the belt drive mechanism is started to operate, and the PCBA is conveyed forward along the conveyor line direction. When the PCBA enters the sensing range of the dynamic tracking vision trigger sensor, the dynamic vision tracking function component is triggered to perform the tracking and positioning of the PCBA. The rotary encoder is connected to the belt drive mechanism, and the belt conveying distance is obtained through the rotary encoder. The position of the PCBA on the conveyor line is positioned by matching the coordinate value of the PCBA positioned by the dynamic vision tracking function component. The outfeed fiber optic sensor is arranged at the exit of the conveyor line, and when the PCBA is detected, the conveying of the conveyor line is stopped.

[0011] Preferably, the tray feeding mechanism of the present invention includes a tray conveyor line located at the lower layer, and tray flow channels arranged on both sides of the tray conveyor line, a tray incoming material stopper for blocking and positioning the tray is provided at the end of the tray conveyor line, the tray flow channel is higher than the height of the tray conveyor line, a tray lifting mechanism for ejecting the tray from the tray conveyor line is provided at the end of the tray conveyor line, and the tray flow channel is correspondingly provided with a movable flow channel for cooperating with the tray lifting mechanism, the movable flow channel includes a tray support slide rail and an opening and closing cylinder for driving the tray support slide rail to open and close, the driving end of the opening and closing cylinder is toward the center line position of the tray conveyor line, and the tray support slide rail is driven to open and close by the opening and closing cylinder; a tray driving mechanism for pushing the tray to slide along the tray flow channel is provided in a direction parallel to the tray support slide rail.

[0012] Preferably, the tray driving mechanism of the present invention comprises a screw motor, a push block and a guide rail, wherein the push block is screwed to the driving end of the screw motor and is slidably connected to the guide rail.

[0013] Preferably, a beam sensor is provided on the material tray flow channel of the present invention, and the height of the beam sensor is set according to the height of the PCBA to detect the stacking condition of the PCBA on the material tray.

[0014] Preferably, the tray incoming stopper of the present invention is provided with an empty tray incoming sensor electrically connected to the tray lifting mechanism, and the empty tray incoming sensor detects the tray position and controls the operation of the tray lifting mechanism.

[0015] Beneficial effects: The PCBA sorting machine using flexible grippers provided by the present invention has the following beneficial effects:

[0016] 1. The present invention uses a dynamic visual tracking function component to identify the position of the PCBA on the conveyor line, and then uses a flexible clamping mechanism to clamp the PCBA and convey the components on the PCBA. In conjunction with the spider manipulator, it can achieve high-speed clamping requirements and improve sorting efficiency.

[0017] 2. The position of the flexible clamping claw on the clamping claw disk of the present invention can be adjusted so that it can be located at any position on the clamping claw disk, and the spacing position can be adjusted, which can meet the clamping requirements of different types of PCBAs and enable the production line to be changed.

[0018] 3. The X-axis adjustment mechanism of the present invention uses a first X-axis adjustment screw and a second X-axis adjustment screw that are parallel to each other to adjust the flexible jaws in the same group, so that the spacing of the flexible jaws can meet the clamping requirements of different PCBA components; at the same time, each flexible jaw is connected to an X-axis adjustment screw through a jaw adjustment block and a jaw guide block, which can ensure the smooth movement of the flexible jaws, and with the scale, the adjustment is more accurate.

[0019] 4. The flexible jaws of the present invention are in two groups and are located in different half regions of the jaw disc, enabling simultaneous grasping of any two gripping targets with different sizes and relative positions within the effective working range, achieving stable grasping of heavy PCBA. This solves the problem that during high-speed sorting operations, a single heavy PCBA is only grasped at one part and is prone to falling.

[0020] 5. The conveyor line of the present invention uses a flat belt for receiving materials. After the PCBA is divided in the previous process, there will be a certain misalignment in the relative positions of the PCBA compared to when they were on the panel. If a tooling receiving method is used, it is likely to increase the difficulty of discharging in the previous process; while the flat belt receiving is simple and easy to use, and in combination with dynamic vision and a rotary encoder, it accurately supplies the PCBA to the spider manipulator for grasping, and the waste edges directly flow into the waste edge collection box at the end of the conveyor line.

[0021] 6. The present invention uses a dynamic vision tracking functional component in combination with a rotary encoder, which can accurately obtain the position of the PCBA on the conveyor line and has low requirements for the incoming posture of the PCBA. And it can scan the panel barcodes within the entire width range of the belt line and bind the information to this panel product.

[0022] 7. The material plate feeding mechanism of the present invention adopts a double-layer structure. The lower layer feeds empty trays in the reverse direction. After transferring the trays to the upper layer, they are steadily pushed forward by a servo motor screw to receive the PCBA, reducing the moving distance of the spider manipulator and improving the efficiency of sorting and placing on the tray. When the tray is about to be full, the subsequent empty trays have been transferred to the upper layer waiting position, realizing non-stop feeding of the trays, enabling the sorting and placing on the tray to operate without stopping, also improving the efficiency of the machine and saving occupied space. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art.

[0024] Figure 1 It is the overall structure diagram of the present invention;

[0025] Figure 2 It is the three-dimensional view of the flexible clamping mechanism of the present invention;

[0026] Figure 3 It is the structure diagram of the jaw disc of the present invention;

[0027] Figure 4 It is the top view of the jaw disc of the present invention;

[0028] Figure 5 It is the cross-sectional view of the flexible clamping mechanism of the present invention along the axis of the Y-direction adjustment screw;

[0029] Figure 6 It is the structure diagram of the X-axis adjustment mechanism of the present invention;

[0030] Figure 7 This is the structural diagram of the tray feeding mechanism of the present invention;

[0031] Figure 8 This is the side view of the tray feeding mechanism of the present invention;

[0032] Among them, 1 - conveyor line, 2 - dynamic vision tracking function component, 3 - flexible clamping mechanism, 4 - tray feeding mechanism, 5 - PCBA, 6 - spider robot, 7 - jaw plate, 8 - flexible jaw, 9 - Y-axis adjustment mechanism, 10 - X-axis adjustment mechanism, 11 - Y-direction adjustment screw, 12 - Y-direction adjustment block, 13 - annular card slot, 14 - jaw mounting bracket, 15 - first X-direction adjustment screw, 16 - second X-direction adjustment screw, 17 - jaw adjustment block, 18 - jaw guide block, 19 - T-shaped guide block, 20 - guide groove, 21 - infeed inductor, 22 - rotary encoder, 23 - outfeed fiber optic inductor, 24 - tray conveyor line, 25 - tray runner, 26 - tray, 27 - tray incoming material stopper, 28 - tray lifting mechanism, 29 - tray support slide rail, 30 - opening and closing air cylinder, 31 - lead screw motor, 32 - push block, 33 - guide rail, 34 - opposed inductor, 35 - empty tray incoming material sensor. Detailed implementation manners

[0033] The present invention will be more clearly and completely described below by way of a preferred embodiment in conjunction with the accompanying drawings, but the present invention is not limited to the scope of the described embodiment.

[0034] As Figures 1-8 shown, a PCBA sorting machine using flexible jaws disclosed by the present invention includes a conveyor line 1 for conveying the cut PCBA, a dynamic vision tracking function component 2 arranged above the conveyor line for detecting and positioning the position of the PCBA, a flexible clamping mechanism 3 for flexibly clamping and sorting the PCBA on the conveyor line, and a tray feeding mechanism 4 for driving the tray to receive the sorted PCBA. The position of the PCBA 5 on the conveyor line 1 is obtained by the dynamic vision tracking function component 2, and the PCBA 5 is clamped and conveyed by the flexible clamping mechanism 3; the flexible clamping mechanism 3 includes a spider robot 6, a jaw plate 7 arranged at the end of the spider robot, and flexible jaws 8. The jaw plate 7 is provided with a Y-axis adjustment mechanism 9 for adjusting the position of the flexible jaws 8 in the Y-axis direction. An X-axis adjustment mechanism 10 for adjusting the position of the flexible jaws 8 in the X-axis direction is arranged at the driving end of the Y-axis adjustment mechanism 9. The flexible jaws 8 are fixed at the driving end of the X-axis adjustment mechanism 10, and the position of the flexible jaws 8 on the jaw plate is adjusted by the X-axis adjustment mechanism 10 and the Y-axis adjustment mechanism 9.

[0035] The position and spacing of the flexible jaws on the jaw plate can be adjusted through the Y-axis adjustment mechanism 9 and the X-axis adjustment mechanism 10. Thus, when changing the production line, different types of PCBA can be clamped and sorted, meeting the requirements of multi-production line conveying and sorting with a single device. The number of flexible jaws 8 in the present invention is two groups, and the two groups of flexible jaws are located in the half area of the jaw plate 7. The jaw plate 7 is provided with scales symmetrically arranged along the central direction. The two groups of flexible jaws can meet the clamping requirements of PCBA with large self-weight, ensuring the stability of the clamping process and preventing dropping during high-speed sorting.

[0036] Specifically, as Figures 3-6 shown, the Y-axis adjustment mechanism 9 of the present invention includes a Y-direction adjustment screw 11 arranged on the jaw plate 7 and a Y-direction adjustment block 12 screwed on the Y-axis adjustment screw 11. The X-axis adjustment mechanism 10 is fixed on the Y-direction adjustment block 12. An annular groove 13 is provided at the end of the Y-direction adjustment screw 11 along the circumferential direction, and the Y-direction adjustment screw 11 is rotatably connected to the jaw plate 7 through the annular groove 13. When rotating the Y-direction adjustment screw 11, relative axial movement between the screw and the jaw plate is avoided.

[0037] The X-axis adjustment mechanism 10 includes a jaw mounting bracket 14, a first X-direction adjustment screw 15 and a second X-direction adjustment screw 16 arranged along the X-direction on the jaw mounting bracket 14. The flexible jaws 8 are connected to the two X-direction adjustment screws through a jaw adjustment block 17 and a jaw guide block 18. A screw hole is provided in the jaw adjustment block 17, and by rotating the corresponding X-direction adjustment screw, the jaw adjustment block 17 is driven to move along the X-direction. The jaw adjustment blocks 17 and jaw guide blocks 18 of the two flexible jaws in the same group are staggered. A T-shaped guide block 19 is provided on the side of the jaw mounting bracket 14 close to the jaw plate 7, and a guide groove 20 for the T-shaped guide block 19 to pass through is provided on the jaw plate 7. The guide groove 20 is parallel to the Y-direction. Through the cooperation of the T-shaped guide block 19 and the guide groove 20, the movement of the X-axis adjustment mechanism 10 along the Y-direction is guided.

[0038] In order for the sorting machine to accurately identify the loading and unloading of PCBA and achieve automatic sorting, the conveyor line 1 of the present invention uses a flat belt for conveying. Along the conveying direction of the flat belt, a feeding inductor 21, a dynamic tracking vision trigger inductor, a rotary encoder 22, and a discharging fiber optic inductor 23 are arranged. The feeding inductor 21 is arranged at the entrance of the flat belt. After detecting that the material enters the flat belt, it starts the belt drive mechanism to operate and conveys the PCBA 5 forward along the conveying direction of the conveyor line. When the PCBA enters the sensing range of the dynamic tracking vision trigger inductor, it triggers the dynamic vision tracking function component 2 to perform tracking and positioning of the PCBA 5. The dynamic vision tracking function component is fixed directly above the visual dynamic tracking area of the belt line and irradiates the working area of the entire width of the belt line. Two planar light sources are installed on both sides of the dynamic tracking area of the belt line, and the irradiation angle of the light source is adjustable to provide lighting for dynamic vision tracking. The rotary encoder 22 is connected to the belt drive mechanism. The belt conveying distance is obtained through the rotary encoder 22, and the position of the PCBA 5 on the conveyor line is positioned by matching the coordinate value of the PCBA 5 positioned by the dynamic vision tracking function component 2. The discharging fiber optic inductor 23 is arranged at the exit of the conveyor line 1. When detecting the PCBA 5, it stops the conveying of the conveyor line.

[0039] As Figures 7-8 shown, the sorted PCBA is placed on the tray. After the tray is full, it is taken away as a whole. In order to be able to automatically load the tray and save the occupied space of the equipment, the tray feeding mechanism 4 of the present invention includes a tray conveyor line 24 located at the lower layer, and tray runners 25 arranged on both sides of the tray conveyor line 24. At the end of the tray conveyor line 24, there is a tray incoming block 27 for blocking and positioning the tray 26. The height of the tray runner 25 is higher than that of the tray conveyor line 24. At the end of the tray conveyor line 24, there is a tray lifting mechanism 28 for ejecting the tray 26 from the tray conveyor line 24. The tray runner 25 is correspondingly provided with a movable runner for cooperating with the tray lifting mechanism 28. The tray incoming block 27 is provided with an empty tray incoming sensor 35 electrically connected to the tray lifting mechanism 28. The action of the tray lifting mechanism 28 is controlled by detecting the position of the tray 26 through the empty tray incoming sensor 35. Specifically, in order to facilitate the lifting of the tray, the tray conveyor line of the present invention uses two parallel synchronous belts for conveying, and a lifting area is formed between the two synchronous belts. The lifting cylinder of the tray lifting mechanism 28 pushes the empty tray upward through a push plate.

[0040] The movable flow channel of the present invention includes a tray support slide rail 29 and an opening and closing air cylinder 30 for driving the opening and closing of the tray support slide rail 29. The driving end of the opening and closing air cylinder 30 faces the center line position of the tray conveyor line 24, and the opening and closing of the tray support slide rail 29 is driven by the opening and closing air cylinder 30; along the direction parallel to the tray support slide rail 29, there is a tray driving mechanism for pushing the tray 26 to slide along the tray flow channel. The tray driving mechanism includes a lead screw motor 31, a push block 32 and a guide rail 33. The push block 32 is screwed to the driving end of the lead screw motor 31 and is slidably connected to the guide rail 33.

[0041] At the same time, an opposed photoelectric sensor 34 is provided on the tray flow channel 25. The height of the opposed photoelectric sensor 34 is set according to the height of the PCBA5 to detect the stacking condition of the PCBA5 on the tray 26.

[0042] When the sorting machine of the present invention is in use, the cut PCBA is placed at the feeding position of the conveyor line 1. The feeding sensor 21 detects the entry of the material and starts the conveyor line 1 to convey the PCBA. After the PCBA enters the irradiation area, the camera of the dynamic vision tracking function component is triggered. The camera takes pictures to obtain the position coordinate information of the PCBA. And as the conveyor line conveys, the distance of the flat belt conveyance is obtained through the rotary encoder 22, so that the position of the PCBA on the conveyor line can be accurately located.

[0043] The flexible jaws on the jaw chuck 7 are driven by the spider manipulator 6 to move to the position of the PCBA. The flexible jaws act to clamp the components on the PCBA, lift the whole PCBA, and place it on the tray 26. During the process of sorting and clamping the PCBA, the lead screw motor 31 is used to push the tray to slide along the tray flow channel synchronously with the conveyor line, shortening the moving distance of the spider manipulator 6 to clamp the PCBA and place it on the tray. After the tray is full, the tray is taken out. During the sliding of the tray, a new empty tray reaches the tray incoming material stop block 27 along the tray conveyor line 24. The tray lifting mechanism 28 jacks up the tray upward to reach above the tray support slide rail 29. The tray driving mechanism drives the push block 32 to move to the rear end of the new tray and repeats the pushing again.

[0044] As the conveyor line conveys, the waste generated by cutting will enter the waste box at the end along the flat belt. In order to keep the belt clean, a brush can be provided at the end of the conveyance to clean the dust remaining on the belt. When the PCBA is not clamped in time and reaches the outlet of the conveyor line, the outgoing optical fiber sensor 23 can accurately sense the PCBA and stop the belt line to alarm, preventing the PCBA from flowing into the waste box.

[0045] When changing the production line for production, according to the structure of the product to be changed, adjust the positions of the flexible jaws on the jaw chuck in the Y direction and the X direction, and adjust the spacing between the flexible jaws in the same group to adapt to the components, so that the sorting machine can be compatible with the sorting requirements of various specifications of PCBA and broaden the scope of use.

[0046] The above are only the preferred embodiments of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present invention.

Claims

1. A PCBA sorting machine using flexible jaws, characterized in that, It includes a conveyor line for conveying the PCBA after cutting, a dynamic vision tracking function component arranged above the conveyor line for detecting and positioning the position of the PCBA, a flexible clamping mechanism for flexibly clamping and sorting the PCBA on the conveyor line, and a tray feeding mechanism for driving the tray to receive the sorted PCBA. The position of the PCBA on the conveyor line is obtained by the dynamic vision tracking function component, and the PCBA is clamped and conveyed by the flexible clamping mechanism; the flexible clamping mechanism includes a spider robot, a jaw plate arranged at the end of the spider robot, and flexible jaws. The jaw plate is provided with a Y-axis adjustment mechanism for adjusting the position of the flexible jaws in the Y-axis direction, and an X-axis adjustment mechanism for adjusting the position of the flexible jaws in the X-axis direction is arranged at the driving end of the Y-axis adjustment mechanism. The flexible jaws are fixed at the driving end of the X-axis adjustment mechanism, and the position of the flexible jaws on the jaw plate is adjusted by the X-axis adjustment mechanism and the Y-axis adjustment mechanism. The Y-axis adjustment mechanism includes a Y-direction adjustment screw arranged on the jaw plate and a Y-direction adjustment block screwed on the Y-axis adjustment screw. The X-axis adjustment mechanism is fixed on the Y-direction adjustment block; an annular groove is arranged at the end of the Y-direction adjustment screw along the circumferential direction, and the Y-direction adjustment screw is rotationally connected with the jaw plate through the annular groove. The X-axis adjustment mechanism includes a jaw mounting bracket and a first X-direction adjustment screw and a second X-direction adjustment screw arranged along the X-direction on the jaw mounting bracket. The flexible jaws are connected with the two X-direction adjustment screws through a jaw adjustment block and a jaw guide block. A screw hole is arranged in the jaw adjustment block, and by rotating the corresponding X-direction adjustment screw, the jaw adjustment block is driven to move along the X-direction; the jaw adjustment blocks and jaw guide blocks of the two flexible jaws in the same group are arranged staggeredly. The conveyor line uses a flat belt for conveying. An infeed sensor, a dynamic tracking vision trigger sensor, a rotary encoder, and an outfeed fiber optic sensor are arranged along the conveying direction of the flat belt. The infeed sensor is arranged at the entrance of the flat belt. After detecting that the material enters the flat belt, the belt drive mechanism is started to operate, and the PCBA is conveyed forward along the conveyor line direction; when the PCBA enters the sensing range of the dynamic tracking vision trigger sensor, the dynamic vision tracking function component is triggered to perform tracking and positioning of the PCBA. The rotary encoder is connected with the belt drive mechanism, and the belt conveying distance is obtained through the rotary encoder, and the position of the PCBA on the conveyor line is positioned by combining with the coordinate value of the PCBA positioned by the dynamic vision tracking function component; the outfeed fiber optic sensor is arranged at the exit of the conveyor line, and when the PCBA is detected, the conveying of the conveyor line is stopped.

2. The PCBA sorting machine using a flexible gripper according to claim 1, wherein The jaw mounting bracket is provided with a T-shaped guide block on the side close to the jaw plate, and the jaw plate is provided with a guide groove for the T-shaped guide block to pass through. The guide groove is parallel to the Y-direction, and the movement of the X-axis adjustment mechanism along the Y-direction is guided through the cooperation of the T-shaped guide block and the guide groove.

3. The PCBA sorting machine using a flexible gripper according to claim 1, wherein The number of the flexible jaws is two groups, and the two groups of flexible jaws are located in the half regions of the jaw plate, and scales are symmetrically arranged along the central direction on the jaw plate.

4. A PCBA sorting machine using flexible jaws according to claim 1, characterized in that, The tray feeding mechanism includes a tray conveyor line located at the lower layer, and tray runners arranged on both sides of the tray conveyor line. At the end of the tray conveyor line, there is a tray incoming block for blocking and positioning the tray. The height of the tray runner is higher than that of the tray conveyor line. At the end of the tray conveyor line, there is a tray lifting mechanism for ejecting the tray from the tray conveyor line. The tray runner is correspondingly provided with a movable runner for cooperating with the tray lifting mechanism. The movable runner includes a tray support slide rail and an opening and closing air cylinder for driving the tray support slide rail to open and close. The driving end of the opening and closing air cylinder faces the center line position of the tray conveyor line, and the tray support slide rail is driven to open and close by the opening and closing air cylinder. Along the direction parallel to the tray support slide rail, there is a tray driving mechanism for pushing the tray to slide along the tray runner.

5. The PCBA sorting machine using a flexible gripper according to claim 4, wherein, The tray driving mechanism includes a screw motor, a push block, and a guide rail. The push block is screwed to the driving end of the screw motor and is slidably connected to the guide rail.

6. The PCBA sorting machine using flexible jaws according to claim 4, characterized in that, There is an opposed sensor on the tray runner. The height of the opposed sensor is set according to the height of the PCBA to detect the stacking condition of the PCBA on the tray.

7. A PCBA sorting machine using flexible jaws according to claim 4, characterized in that, There is an empty tray incoming sensor electrically connected to the tray lifting mechanism on the tray incoming block. The action of the tray lifting mechanism is controlled by detecting the tray position through the empty tray incoming sensor.

Images