Clamping jaw mechanism for testing PCB (Printed Circuit Board) and moving device of clamping jaw mechanism

Abstract

The invention discloses a clamping jaw mechanism for PCB testing and a moving device of the clamping jaw mechanism, and belongs to the technical field of PCB testing, the clamping jaw mechanism comprises a mounting rack, the clamping side of the mounting rack is provided with four clamping plates, the four clamping plates are symmetrical in pairs along an X axis and symmetrical in pairs along a Z axis, and the clamping plates are arranged on the clamping side of the mounting rack; clamping driving mechanisms for driving the clamping plates to move towards the clamping sides are assembled on the driving sides of the four clamping plates correspondingly, and a synchronous rotation driving mechanism for driving the two clamping driving mechanisms to rotate at the same time is assembled between the two clamping driving mechanisms close to the side of the mounting frame in the X-axis direction. A same-direction rotation driving mechanism for driving the two clamping driving mechanisms to rotate in the same direction is assembled between the two clamping driving mechanisms in the Z-axis direction; the four clamping plates are arranged, simultaneous clamping and loosening of the four clamping plates are achieved through the clamping driving mechanism, the synchronous rotation driving mechanism and the same-direction rotation driving mechanism, the uniformity, namely the stability, of clamping force can be improved through four-corner clamping, and meanwhile the clamping deformation and damage risk of a PCB can be reduced.

Description

Technical Field

[0001] This invention belongs to the field of PCB board testing technology, specifically relating to a gripper mechanism and its moving device for PCB board testing. Background Technology

[0002] PCB boards are key basic components in electronic devices used to carry and connect electronic components. Through pre-designed conductive patterns, they realize electrical connections between electronic components such as resistors, capacitors, chips and connectors, while providing mechanical fixation and support for the components. This replaces traditional manual wiring, greatly simplifies the assembly process of electronic devices and improves reliability.

[0003] PCB boards must pass testing during the production process before they can be shipped and sold.

[0004] The gripper mechanism is an important component used for positioning and clamping in the PCB board testing process.

[0005] Chinese Patent Application No. 202411299081.X discloses a gripper mechanism and its moving device for PCB board testing, including a mounting assembly, a pressure plate assembly on the mounting assembly, and two clamping members driven by a cylinder assembly on both sides of the pressure plate assembly on the mounting assembly. When the device clamps, the cylinder assembly drives the two clamping members to clamp the PCB board, and the pressure plate assembly increases the vertical upward pressure and has a limiting effect to prevent the PCB board from deforming.

[0006] The aforementioned existing technology has the following problems: the aforementioned PCB board testing gripper mechanism and its moving device clamp the two sides of the PCB board with two clamping parts. For large-size PCB boards, the middle area is prone to warping, and the stability is poor.

[0007] In view of this, a gripper mechanism and its moving device for PCB board testing are designed to solve the above problems. Summary of the Invention

[0008] To address the problems mentioned in the background art, this invention provides a gripper mechanism and its moving device for PCB board testing. The mechanism features four-corner gripping, which improves the uniformity of the gripping force (i.e., stability), reduces the risk of PCB board deformation and damage, and allows for adjustment of the gripping plate position according to the PCB board specifications, thus improving adaptability.

[0009] To achieve the above objectives, the present invention provides the following technical solution: a PCB board testing gripper mechanism, comprising: a mounting frame, wherein four gripping plates are provided on the gripping side of the mounting frame, the four gripping plates are symmetrical about each other along the X-axis and about each other along the Z-axis, and each of the four gripping plates is equipped with a gripping drive mechanism on its driving side for moving the gripping plates toward the gripping side; a synchronous rotation drive mechanism is assembled between the two gripping drive mechanisms on the X-axis side closer to the mounting frame for driving the two gripping drive mechanisms to rotate simultaneously; and a co-rotation drive mechanism is assembled between the two gripping drive mechanisms on the Z-axis for driving the two gripping drive mechanisms to rotate in the same direction.

[0010] Furthermore, the clamping drive mechanism includes a rotatably mounted screw and two second fixing blocks symmetrically fixed to the drive sidewall of the clamping plate. One side of the screw is connected to a transmission sleeve via a transmission nut, and the other side is fitted with a first fixing sleeve. The transmission sleeve and the first fixing sleeve are respectively fixed with second mounting seats near the sidewalls of the second fixing blocks. The second mounting seat on the first fixing sleeve is fixed with a first fixing block away from the sidewall of the second mounting seat on the transmission sleeve. The second mounting seat on the first fixing sleeve is fixed in position via the first fixing block. A [missing information - likely a connection or component] is fixed between the two second fixing blocks. A sliding rod has a movable sleeve movably sleeved on one side and a second fixed sleeve fixedly sleeved on the other side. The movable sleeve and the transmission sleeve are on the same side, and the second fixed sleeve and the first fixed sleeve are on the same side. The movable sleeve and the second fixed sleeve are respectively fixedly connected to the side wall of the second mounting base. The two first mounting bases correspond to the two second mounting bases. Push rods are respectively provided between the second mounting bases and the first mounting bases diagonally. The two push rods cross to form a scissor shape. Rotary shafts are rotatably connected between the push rods and the second mounting bases and the first mounting bases, as well as between the intersection points of the two push rods.

[0011] Furthermore, the synchronous rotation drive mechanism includes a first motor fixedly connected to the side wall of the mounting bracket and two first gears fixedly sleeved on two screws close to the first motor side in the X-axis direction. One end wall of the two screws close to the first motor side in the X-axis direction is connected to the output shaft of the first motor via a coupling, and the other end wall is connected to the inner wall of the mounting bracket via a bearing. The first gears are close to the first motor side, and the two first gears are sleeved with meshing transmission belts.

[0012] Furthermore, the co-rotation drive mechanism includes a transmission box disposed between two screws along the Z-axis. Two fixed plates are fixedly connected between the transmission box and the mounting frame, with the two fixed plates positioned vertically. The screw along the Z-axis near the mounting frame extends through the transmission box into its interior and is fixedly fitted with a first bevel gear, which is connected to the through section of the transmission box via a bearing. A first fixed block on the second mounting seat of the screw along the Z-axis near the mounting frame is fixedly connected to the transmission box. A follower shaft is connected to the side wall perpendicular to the first bevel gear inside the transmission box via a bearing. A second bevel gear is fixedly fitted outside the follower shaft, meshing with the first bevel gear. A follower sleeve is connected to the side wall corresponding to the first bevel gear inside the transmission box via a bearing. A third bevel gear is fixedly fitted outside the follower sleeve, meshing with the second bevel gear. The screw along the Z-axis away from the mounting frame, near the transmission box's side wall, passes through the follower sleeve and connects to it.

[0013] Furthermore, a position adjustment mechanism is assembled between the screw on the Z-axis away from the mounting bracket and the mounting bracket, and a position follower mechanism is assembled between the screw on the Z-axis away from the mounting bracket and the follower sleeve.

[0014] Furthermore, the position adjustment mechanism includes an adjustment plate disposed on the side of the screw away from the mounting frame and away from the transmission box along the Z-axis, an adjustment port opened on the mounting frame, and a second motor fixed to the top of the upper fixed plate. A movable plate is fixedly connected to the adjustment plate near the side wall of the mounting frame, and the adjustment port corresponds to the position of the movable plate. The movable plate passes through the adjustment port near the side wall of the mounting frame. A rack is fixedly connected to the movable plate near the side wall of the second motor. The screw away from the mounting frame along the Z-axis is connected to the inner wall of the adjustment plate near the side wall of the adjustment plate through a bearing. A first fixing block on the second mounting seat of the screw away from the mounting frame along the Z-axis is fixedly connected to the adjustment plate. The output shaft of the second motor extends to the lower part of the upper fixed plate and is fixedly sleeved with a second gear. The second gear meshes with the rack.

[0015] Furthermore, the position follower mechanism includes four limiting grooves equally spaced along the circumference on the screw and four limiting blocks equally spaced along the circumference fixed to the inner wall of the follower sleeve, with the four limiting blocks extending into the four limiting grooves respectively.

[0016] A mobile device for PCB board testing, using the aforementioned gripper mechanism for PCB board testing.

[0017] Compared with the prior art, the beneficial effects of the present invention are:

[0018] 1. The present invention is provided with four clamping plates, and the clamping and releasing of the four clamping plates are achieved simultaneously through a clamping drive mechanism, a synchronous rotation drive mechanism and a co-rotation drive mechanism. Compared with the prior art, the four-corner clamping can improve the uniformity of the clamping force, i.e. the stability, and at the same time reduce the clamping deformation and damage risk of the PCB board.

[0019] 2. The present invention provides a position adjustment mechanism and a position follow-up mechanism, which can adjust the position between the clamping plates. Compared with the prior art, it can adjust the position of the clamping plate according to the specifications of the PCB board, thereby improving adaptability. Attached Figure Description

[0020] Figure 1 This is a perspective view of the present invention;

[0021] Figure 2 For the present invention Figure 1 Enlarged view of point A in the middle;

[0022] Figure 3 For the present invention Figure 1 Enlarged view at point B in the middle;

[0023] Figure 4 For the present invention Figure 1 Enlarged view at point C;

[0024] Figure 5 For the present invention Figure 1 Enlarged view at point D;

[0025] Figure 6 This is a schematic diagram showing the connection relationship between the screw and the follower sleeve of the present invention;

[0026] In the diagram: 1. Mounting bracket; 2. Clamping plate;

[0027] 101. Screw; 102. First fixed sleeve; 103. First fixed block; 104. Push rod; 105. Rotating shaft; 106. Second fixed block; 107. Second fixed sleeve; 108. Slide rod; 109. Movable sleeve; 110. First mounting base; 111. Second mounting base; 112. Transmission sleeve;

[0028] 201. First motor; 202. First gear; 203. Transmission belt;

[0029] 301. Transmission box; 302. Fixed plate; 303. First bevel gear; 304. Second bevel gear; 305. Follower shaft; 306. Follower sleeve; 307. Third bevel gear;

[0030] 401. Adjusting plate; 402. Movable plate; 403. Adjustment port; 404. Second gear; 405. Second motor; 406. Rack;

[0031] 501, Limiting groove; 502, Limiting block. Detailed Implementation

[0032] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0033] This invention provides the following technical solution: a PCB board testing gripper mechanism, comprising: a mounting frame 1, four gripping plates 2 are arranged on the gripping side of the mounting frame 1, the four gripping plates 2 are symmetrical about each other along the X-axis and about each other along the Z-axis, the driving side of the four gripping plates 2 is respectively equipped with a gripping driving mechanism for driving the gripping plates 2 to move towards the gripping side, a synchronous rotation driving mechanism for driving the two gripping driving mechanisms to rotate simultaneously is assembled between the two gripping driving mechanisms on the X-axis side closer to the mounting frame 1, and a co-rotation driving mechanism for driving the two gripping driving mechanisms to rotate in the same direction is assembled between the two gripping driving mechanisms on the Z-axis side.

[0034] See appendix Figure 1 When the PCB board testing gripper mechanism clamps the PCB board, the synchronous rotation drive mechanism drives the two clamping drive mechanisms on the X-axis side closer to the mounting bracket 1 to move towards each other. The two clamping drive mechanisms on the X-axis side closer to the mounting bracket 1 respectively drive the two clamping drive mechanisms on the X-axis side away from the mounting bracket 1 to move towards each other through the same rotation drive mechanism. The four clamping drive mechanisms drive the four clamping plates 2 to move in the same direction, thereby achieving PCB board clamping.

[0035] Specifically, the clamping drive mechanism includes a rotatably mounted screw 101 and two second fixing blocks 106 symmetrically fixed to the drive side wall of the clamping plate 2. A transmission sleeve 112 is connected to one side of the screw 101 via a transmission nut, and a first fixing sleeve 102 is sleeved on the other side. Second mounting seats 111 are fixed to the transmission sleeve 112 and the first fixing sleeve 102 near the side wall of the second fixing block 106, respectively. A first fixing block 103 is fixed to the side wall of the second mounting seat 111 on the first fixing sleeve 102 away from the side wall of the second mounting seat 111 on the transmission sleeve 112. The second mounting seat 111 on the first fixing sleeve 102 is fixed in position by the first fixing block 103. A sliding rod 108 is fixed between the two second fixing blocks 106. A movable sleeve 109 is movably sleeved on one side of the 08, and a second fixed sleeve 107 is fixedly sleeved on the other side. The movable sleeve 109 is on the same side as the transmission sleeve 112, and the second fixed sleeve 107 is on the same side as the first fixed sleeve 102. The movable sleeve 109 and the second fixed sleeve 107 are respectively fixedly connected to the side wall of the second mounting base 111. The two first mounting bases 110 and the two second mounting bases 111 are in corresponding positions. Push rods 104 are respectively provided between the diagonally opposite second mounting bases 111 and the first mounting bases 110. The two push rods 104 cross to form a scissor shape. Rotating shafts 105 are rotatably connected between the push rods 104 and the second mounting bases 111 and the first mounting bases 110, as well as between the intersection points of the two push rods 104.

[0036] See appendix Figure 1 and 2 When the screw 101 rotates, the second mounting seat 111 of the first fixed sleeve 102 is fixed to the transmission box 301 and the adjusting plate 401 via the first fixed block 103, thus fixing the position of the first fixed sleeve 102. Since the transmission sleeve 112 is connected to the screw 101 via the transmission nut, the transmission sleeve 112 moves on the screw 101 towards the first fixed sleeve 102. The transmission sleeve 112 drives the connected second mounting seat 111 to move in the same direction, causing the connected second mounting seat 111 to move. During the process, the two push rods 104 are driven to rotate and extend along the rotating shaft 105. The two push rods 104 respectively drive the two first mounting seats 110 to move closer to each other and extend. The two first mounting seats 110 drive the movable sleeve 109 to move and extend towards the second fixed sleeve 107. The movable sleeve 109 and the second fixed sleeve 107 drive the slide rod 108 to extend. The slide rod 108 drives the two second fixed blocks 106 to extend. The two second fixed blocks 106 drive the clamping plate 2 to extend. The extended clamping plate 2 moves towards the clamping side to achieve clamping.

[0037] Specifically, the synchronous rotation drive mechanism includes a first motor 201 fixedly connected to the side wall of the mounting frame 1 and two first gears 202 fixedly sleeved on two screws 101 on the X-axis side close to the first motor 201. One end wall of the two screws 101 on the X-axis side close to the first motor 201 is connected to the output shaft of the first motor 201 through a coupling, and the other end wall is connected to the inner wall of the mounting frame 1 through a bearing. The first gears 202 are close to the first motor 201, and the two first gears 202 are sleeved with meshing transmission belts 203.

[0038] See appendix Figure 1 and 3 The first motor 201 drives the output shaft to rotate, the output shaft of the first motor 201 drives the connected screw 101 to rotate, the connected screw 101 drives the connected first gear 202 to rotate, the connected first gear 202 drives the meshing transmission belt 203 to rotate, the transmission belt 203 drives another meshing first gear 202 to rotate, and the other meshing first gear 202 drives the connected screw 101 to rotate, thus realizing the function of driving the two clamping drive mechanisms close to the mounting bracket 1 on the X-axis to rotate simultaneously.

[0039] Specifically, the co-rotation drive mechanism includes a transmission box 301 disposed between two screws 101 along the Z-axis. Two fixing plates 302 are fixedly connected between the transmission box 301 and the mounting frame 1, arranged vertically. A screw 101 on the Z-axis near the mounting frame 1 extends through the transmission box 301 into its interior and is fixedly fitted with a first bevel gear 303. The bevel gear 303 is connected to the through section of the transmission box 301 via a bearing. A first fixing block 103 on the second mounting seat 111 of the screw 101 on the Z-axis near the mounting frame 1 is fixedly connected to the transmission box 301. The transmission box 301 contains... A follower shaft 305 is connected to the vertical side wall of the first bevel gear 303 via a bearing. A second bevel gear 304 is fixedly sleeved on the outside of the follower shaft 305. The second bevel gear 304 meshes with the first bevel gear 303. A follower sleeve 306 is connected to the corresponding side wall of the first bevel gear 303 inside the transmission box 301 via a bearing. A third bevel gear 307 is fixedly sleeved on the outside of the follower sleeve 306. The third bevel gear 307 meshes with the second bevel gear 304. A screw 101 on the side away from the mounting bracket 1 in the Z-axis direction passes through the follower sleeve 306 and connects to the follower sleeve 306 near the side wall of the transmission box 301.

[0040] See appendix Figure 1 and 4The screw 101 on the Z-axis near the mounting bracket 1 drives the first bevel gear 303 to rotate. The first bevel gear 303 drives the meshing second bevel gear 304 to rotate. The second bevel gear 304 drives the meshing third bevel gear 307 to rotate. The third bevel gear 307 drives the connected follower sleeve 306 to rotate. The follower sleeve 306 drives the connected screw 101 on the Z-axis away from the mounting bracket 1 to rotate, thus realizing the function of the two clamping drive mechanisms rotating in the same direction in the Z-axis.

[0041] Specifically, a position adjustment mechanism is assembled between the screw 101 on the Z-axis away from the mounting bracket 1 and the mounting bracket 1, and a position follower mechanism is assembled between the screw 101 on the Z-axis away from the mounting bracket 1 and the follower sleeve 306.

[0042] See appendix Figure 1 The position of the screw 101 on the side away from the mounting bracket 1 is adjusted by the position adjustment mechanism. Due to the setting of the position follow-up mechanism, it does not conflict with the aforementioned operating principle. That is, the position of the clamping plate 2 on the side away from the mounting bracket 1 is adjusted by adjusting the position of the two clamping plates 2 on the Z-axis, so as to adapt to the clamping of PCB boards of different sizes.

[0043] Specifically, the position adjustment mechanism includes an adjustment plate 401 located on the side of the screw 101 away from the mounting frame 1 and away from the transmission box 301 along the Z-axis, an adjustment port 403 opened on the mounting frame 1, and a second motor 405 fixed to the top of the upper fixed plate 302. A movable plate 402 is fixedly connected to the adjustment plate 401 near the side wall of the mounting frame 1. The adjustment port 403 corresponds to the position of the movable plate 402. The movable plate 402 passes through the adjustment port 403 near the side wall of the mounting frame 1. A rack 406 is fixedly connected to the side wall of the movable plate 402 near the side wall of the second motor 405. The screw 101 on the side away from the mounting frame 1 along the Z-axis is connected to the inner wall of the adjustment plate 401 near the side wall of the adjustment plate 401 through a bearing. A first fixing block 103 on the second mounting seat 111 of the screw 101 on the side away from the mounting frame 1 along the Z-axis is fixedly connected to the adjustment plate 401. The output shaft of the second motor 405 extends to the lower part of the upper fixed plate 302 and is fixedly sleeved with a second gear 404. The second gear 404 meshes with the rack 406.

[0044] See appendix Figure 1 and 5 The second motor 405 drives the output shaft to rotate, and the output shaft of the second motor 405 drives the second gear 404 to rotate. During the rotation of the second gear 404, the rack 406 moves. The rack 406 drives the movable plate 402 to move inside the adjustment port 403. The movable plate 402 drives the adjustment plate 401 to move. The adjustment plate 401 drives the connected screw 101 to move, thereby realizing the adjustment of the position of the screw 101 away from the mounting bracket 1 in the Z-axis.

[0045] Specifically, the position follower mechanism includes four limiting grooves 501 that are equally spaced along the circumference on the screw 101 and four limiting blocks 502 that are equally spaced along the circumference and fixed to the inner wall of the follower sleeve 306. The four limiting blocks 502 extend into the four limiting grooves 501 respectively.

[0046] See appendix Figure 1 and 6 Since the limiting block 502 of the follower sleeve 306 is inserted into the limiting groove 501 of the screw 101, the screw 101 can be rotated by the follower sleeve 306 while its position is being adjusted.

[0047] A PCB board testing moving device uses a PCB board testing gripper mechanism.

[0048] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A gripper mechanism for testing PCB boards, characterized in that, include: Mounting bracket (1), the mounting bracket (1) is provided with four clamping plates (2) on the clamping side, the four clamping plates (2) are symmetrical about the X-axis and about the Z-axis in pairs, the driving side of the four clamping plates (2) is respectively equipped with a clamping driving mechanism that drives the clamping plates (2) to move towards the clamping side, a synchronous rotation driving mechanism that drives the two clamping driving mechanisms to rotate simultaneously is assembled between the two clamping driving mechanisms on the X-axis side closer to the mounting bracket (1), and a co-rotation driving mechanism that drives the two clamping driving mechanisms to rotate in the same direction is assembled between the two clamping driving mechanisms on the Z-axis.

2. The gripper mechanism for PCB board testing according to claim 1, characterized in that: The clamping drive mechanism includes a rotatably mounted screw (101) and two second fixing blocks (106) symmetrically fixed to the drive side wall of the clamping plate (2). One side of the screw (101) is connected to a transmission sleeve (112) via a transmission nut, and the other side is fitted with a first fixing sleeve (102). The transmission sleeve (112) and the first fixing sleeve (102) are respectively fixed to second mounting seats (111) near the side wall of the second fixing blocks (106). A first fixing block (103) is fixed to the side wall of the second mounting seat (111) on the first fixing sleeve (102) away from the side wall of the second mounting seat (111) on the transmission sleeve (112). The second mounting seat (111) on the first fixing sleeve (102) is fixed in position by the first fixing block (103). A sliding rod (108) is fixed between the two second fixing blocks (106). 08) A movable sleeve (109) is movably sleeved on one side, and a second fixed sleeve (107) is fixedly sleeved on the other side. The movable sleeve (109) is on the same side as the transmission sleeve (112), and the second fixed sleeve (107) is on the same side as the first fixed sleeve (102). The movable sleeve (109) and the second fixed sleeve (107) are respectively fixedly connected to the side wall of the second mounting seat (111) with a first mounting seat (110). The two first mounting seats (110) are in the same position as the two second mounting seats (111). Push rods (104) are respectively provided between the second mounting seats (111) and the first mounting seats (110) diagonally. The two push rods (104) cross to form a scissor shape. The push rods (104) are rotatably connected to the second mounting seats (111) and the first mounting seats (110) and between the intersection points of the two push rods (104) with a rotating shaft (105).

3. The gripper mechanism for PCB board testing according to claim 2, characterized in that: The synchronous rotation drive mechanism includes a first motor (201) fixedly connected to the side wall of the mounting frame (1) and two first gears (202) fixedly sleeved on two screws (101) on the X-axis close to the side of the first motor (201). One end wall of the two screws (101) on the X-axis close to the side of the first motor (201) is connected to the output shaft of the first motor (201) through a coupling, and the other end wall is connected to the inner wall of the mounting frame (1) through a bearing. The first gears (202) are close to the side of the first motor (201), and the two first gears (202) are sleeved with a meshing transmission belt (203).

4. The gripper mechanism for PCB board testing according to claim 3, characterized in that: The co-rotation drive mechanism includes a transmission box (301) disposed between two screws (101) along the Z-axis. Two fixing plates (302) are fixedly connected between the transmission box (301) and the mounting frame (1), arranged vertically. The screw (101) on the Z-axis near the mounting frame (1) extends through the transmission box (301) into its interior and is fitted with a first bevel gear (303), which is connected to the through section of the transmission box (301) via a bearing. A first fixing block (103) on the second mounting seat (111) of the screw (101) on the Z-axis near the mounting frame (1) is fixedly connected to the transmission box (301). The transmission box (301) contains... A follower shaft (305) is connected to the side wall perpendicular to the first bevel gear (303) via a bearing. A second bevel gear (304) is fixedly sleeved on the outside of the follower shaft (305). The second bevel gear (304) meshes with the first bevel gear (303). A follower sleeve (306) is connected to the side wall corresponding to the first bevel gear (303) inside the transmission box (301) via a bearing. A third bevel gear (307) is fixedly sleeved on the outside of the follower sleeve (306). The third bevel gear (307) meshes with the second bevel gear (304). A screw (101) on the side away from the mounting bracket (1) in the Z-axis direction passes through the follower sleeve (306) and connects to the follower sleeve (306) near the side wall of the transmission box (301).

5. A gripper mechanism for PCB board testing according to claim 4, characterized in that: A position adjustment mechanism is assembled between the screw (101) on the side away from the mounting bracket (1) along the Z-axis and the mounting bracket (1), and a position follower mechanism is assembled between the screw (101) on the side away from the mounting bracket (1) along the Z-axis and the follower sleeve (306).

6. The gripper mechanism for PCB board testing according to claim 5, characterized in that: The position adjustment mechanism includes an adjustment plate (401) located on the side of the screw (101) away from the mounting frame (1) and away from the transmission box (301) along the Z-axis, an adjustment port (403) opened on the mounting frame (1), and a second motor (405) fixed to the top of the upper fixed plate (302). A movable plate (402) is fixedly connected to the adjustment plate (401) near the side wall of the mounting frame (1). The adjustment port (403) corresponds to the position of the movable plate (402). The movable plate (402) passes through the adjustment port (403) near the side wall of the mounting frame (1). A rack (406) is fixedly connected to the side wall near the second motor (405). The screw (101) on the side away from the mounting bracket (1) in the Z-axis direction is connected to the inner wall of the adjustment plate (401) via a bearing. The first fixing block (103) on the second mounting seat (111) on the side screw (101) away from the mounting bracket (1) in the Z-axis direction is fixedly connected to the adjustment plate (401). The output shaft of the second motor (405) extends to the lower part of the upper fixing plate (302) and is fixedly sleeved with a second gear (404). The second gear (404) meshes with the rack (406).

7. A gripper mechanism for PCB board testing according to claim 6, characterized in that: The position follower mechanism includes four limiting grooves (501) equally spaced along the circumference on the screw (101) and four limiting blocks (502) equally spaced along the circumference fixed to the inner wall of the follower sleeve (306), with the four limiting blocks (502) extending into the four limiting grooves (501) respectively.

8. A mobile device for testing PCB boards, characterized in that, The PCB board testing gripper mechanism as described in claim 7 is used.

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