Self-adaptive adjustment PCB clamping device and intelligent control method thereof

Abstract

The invention discloses a self-adaptive adjustment PCB clamping device and an intelligent control method thereof.The self-adaptive adjustment PCB clamping device comprises a clamping base plate and further comprises four overturning rod assemblies arranged at the four corners of the clamping base plate correspondingly; the four inclined straight notches are formed in the four overturning rod assemblies respectively; the two same-side symmetrical overturning assemblies are arranged between the two overturning rod assemblies on the same side respectively; a sliding clamping jaw assembly is movably arranged in the oblique straight notch. The two same-side movable assemblies are connected with the two sliding clamping jaw assemblies on the same side correspondingly. The synchronous opening and closing assembly is connected between the two movable assemblies on the same side; the synchronous overturning assembly is connected between the two symmetrical overturning assemblies on the same side; the PCB clamping device aims at solving the conflict problem of an existing PCB clamping device in size adjustment and mode switching.

Description

Technical Field

[0001] This invention relates to the field of PCB manufacturing equipment technology, and in particular to an adaptive PCB clamping device and its intelligent control method. Background Technology

[0002] In the production, testing, and assembly of PCBs, clamping devices are key equipment for achieving automated workflow. However, existing technologies have the following significant drawbacks: Limited size adjustment: Traditional clamping devices have a fixed range for jaw spacing adjustment, and different clamping modes, such as forward and downward angled size adjustments, interfere with each other, making it impossible to accurately adapt to different sizes of the same type of PCB. Frequent manual calibration is required when changing specifications. Conflict between mode switching and size adjustment: Although some devices can switch clamping modes, the size adjustment in both forward and angled modes shares a single transmission mechanism, requiring readjustment of size parameters after mode switching, which is cumbersome and prone to errors. Insufficient protection for brittle components: When brittle PCBs such as fiberglass substrates are clamped in the forward direction, the vertical feeding clamping force can easily cause localized stress concentration, leading to board cracking. Existing angled clamping devices often cannot independently adjust sizes in angled mode, making it difficult to adapt to brittle components of different specifications.

[0003] To address the aforementioned issues, this invention presents an adaptive device capable of independently adjusting dimensions under two clamping modes. Through mechanical structure optimization and collaborative control, it achieves the dual functions of "flexible mode switching + precise size adaptation," thereby improving production efficiency and board safety.

[0004] Therefore, the existing PCB manufacturing equipment technology field needs further improvement. Summary of the Invention

[0005] The purpose of this invention is to provide an adaptive PCB board clamping device and its intelligent control method, aiming to solve the conflict problem between size adjustment and mode switching in existing PCB board clamping devices.

[0006] To achieve the above objectives, the present invention adopts the following solution:

[0007] An adaptive PCB board clamping device includes a clamping substrate, comprising:

[0008] Four flip-rod assemblies are respectively located at the four corners of the clamping base plate;

[0009] Four oblique straight slots are respectively provided on the four flip rod assemblies;

[0010] Two symmetrical flipping components on the same side are respectively disposed between the two flipping rod components on the same side;

[0011] A sliding gripper assembly is movably disposed within the inclined straight slot.

[0012] Two movable components on the same side are respectively connected to two sliding gripper assemblies on the same side;

[0013] A synchronous opening and closing component is connected between the two movable components on the same side;

[0014] A synchronous flipping component is connected between two symmetrical flipping components on the same side;

[0015] A visual detection component and a lifting suction cup component are provided on the clamping base plate.

[0016] Furthermore, the flipping rod assembly includes a rotating shaft disposed on the clamping base plate, a swing rod disposed on the rotating shaft, and an oblique straight slot disposed on a corresponding swing rod.

[0017] Furthermore, the same-side symmetrical flipping assembly includes symmetrical gears disposed on the upper end of the rotating shaft, and the two symmetrical gears mesh with each other for transmission.

[0018] Furthermore, the sliding gripper assembly includes a gripper shaft, which is movably disposed within the inclined straight slot, and grippers are provided on the opposite surfaces of two adjacent gripper shafts.

[0019] Furthermore, the same-side movable component includes a transverse guide groove disposed on the clamping base plate, a transverse slider disposed in the transverse guide groove, a longitudinal plate disposed on the front and rear end faces of the transverse slider, a longitudinal straight slot disposed on the longitudinal plate, and the gripper shaft movably inserted into a corresponding longitudinal straight slot.

[0020] Furthermore, the synchronous opening and closing assembly includes a longitudinal guide groove disposed between the two transverse guide grooves, a longitudinal slider movably disposed within the longitudinal guide groove, a rotating screw rotatably disposed within the longitudinal guide groove, a longitudinal screw hole disposed within the longitudinal slider, the rotating screw passing through the longitudinal screw hole and being threadedly connected to the longitudinal screw hole, a first adjusting motor disposed at the end of the longitudinal guide groove, the output end of the first adjusting motor being coupled to the end of the rotating screw, a first hinge portion disposed on the transverse slider, a second hinge portion disposed on each side of the longitudinal slider, and a connecting rod hinged between the second hinge portion and the first hinge portion on the same side.

[0021] Furthermore, the synchronous flipping assembly includes a worm gear mounting base disposed on the upper surface of the clamping base, an adjusting worm gear rotatably disposed within the worm gear mounting base, a second adjusting motor disposed on the worm gear mounting base, the output end of the second adjusting motor being coupled to the end of the adjusting worm gear, one end face of one of the two symmetrical gears on the same side being provided with a worm wheel, the adjusting worm gear passing through the worm wheels on both sides and being threadedly connected to the two worm wheels.

[0022] An intelligent control method includes the following steps:

[0023] Inspection steps: Obtain the PCB board's size parameters and type information through a visual inspection component;

[0024] Mode selection steps: Based on the PCB board type information, the corresponding clamping mode is automatically selected. If it is a brittle PCB board, the oblique clamping mode is selected; if it is a normal PCB board, the forward clamping mode is selected.

[0025] Size adjustment steps: Based on the obtained size parameters, control the synchronous opening and closing component to adjust the spacing of the sliding gripper component to match the PCB board size;

[0026] Mode execution steps: According to the selected clamping mode, control the synchronous flipping component to adjust the angle of the flipping rod component, and drive the sliding gripper component to perform the corresponding clamping action;

[0027] Feedback and adjustment steps: Monitor the clamping force and PCB board status in real time during the clamping process, and dynamically adjust the clamping parameters based on the monitoring results to ensure clamping stability and PCB board safety.

[0028] Furthermore, in the detection step, images of the PCB board are captured by a visualization detection component, and machine vision algorithms are used to identify the length, width, and thickness parameters of the PCB board. The material type of the PCB board is determined by image feature analysis. The machine vision algorithm includes an edge detection algorithm and a feature extraction algorithm. The edge detection algorithm is used to identify the outline dimensions of the PCB board, and the feature extraction algorithm is used to analyze the surface texture features of the PCB board to determine the material type.

[0029] Furthermore, in the feedback adjustment step, a pressure sensor is set on the sliding gripper assembly to monitor the clamping force in real time. When the clamping force exceeds a preset threshold, the synchronous opening and closing assembly is controlled to reduce the clamping force. At the same time, the visual detection assembly monitors in real time whether the PCB board is deformed or displaced. If an abnormality occurs, the position and angle of the sliding gripper assembly are automatically adjusted until the PCB board is in a stable clamping state.

[0030] In summary, the advantages of this invention over the prior art are:

[0031] This invention addresses the shortcomings of existing PCB manufacturing equipment. Through its structural design, it offers the following advantages: Dual-mode independent size adjustment: Size adjustment in oblique and forward modes is achieved through different transmission paths. Oblique mode relies on a synchronous opening and closing component, while forward mode relies on a synchronous flipping component, adapting to clamping PCBs of different sizes. Highly efficient and flexible mode switching: Mode switching is achieved rapidly through motor-driven gear and worm gear transmission, with precise and controllable gripper movement trajectory during switching, meeting the cycle time requirements of automated production lines. Enhanced protection for brittle components: In oblique clamping mode, the distributed clamping force reduces local stress. Combined with the flexible gripper material, the cracking rate of the fiberglass substrate is reduced, while also supporting adaptive clamping of brittle components of different sizes. Strong compatibility: Adapting to PCBs of different sizes, covering most industrial specifications, and supporting clamping of various PCB types, making it suitable for a wide range of scenarios. Attached Figure Description

[0032] Figure 1 This is one of the perspective views of the present invention;

[0033] Figure 2 This is a second perspective view of the present invention;

[0034] Figure 3 This is the left view of the present invention;

[0035] Figure 4 This is a top view of the present invention;

[0036] Figure 5 This is a schematic diagram of the forward clamping and size adjustment of the present invention;

[0037] Figure 6 This is a schematic diagram of the forward clamping and clamping feed of the present invention;

[0038] Figure 7 This is a schematic diagram of the oblique clamping and size adjustment of the present invention;

[0039] Figure 8 This is a schematic diagram of the oblique clamping and clamping feed of the present invention. Detailed Implementation

[0040] 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.

[0041] Please see Figures 1-8 The present invention provides an adaptive PCB board clamping device, including a clamping substrate 1, comprising:

[0042] Four flipping rod assemblies 2 are respectively disposed at the four corners of the clamping base plate 1;

[0043] Four oblique straight slots 3 are respectively provided on the four flip rod assemblies 2;

[0044] Two symmetrical flipping components 4 are respectively disposed between the two flipping rod components 2 on the same side, so that the two flipping rod components 2 on the same side flip symmetrically flip.

[0045] A sliding gripper assembly 10 is movably disposed within the inclined straight slot 3;

[0046] Two movable components 5 on the same side are respectively connected to two sliding gripper assemblies 10 on the same side, and are used to control the two sliding gripper assemblies 10 on the same side to synchronously close and open in the lateral direction;

[0047] Synchronous opening and closing component 6 is connected between the two same-side movable components 5 and is used to synchronously control the synchronous opening and closing of the two same-side movable components 5.

[0048] The synchronous flipping component 7 is connected between the two same-side symmetrical flipping components 4 and is used to drive the two same-side symmetrical flipping components 4 to move symmetrically left and right.

[0049] A visual detection component 8 and a lifting suction cup component 9 are provided on the clamping base plate 1. The clamping base plate 1 serves as the overall mounting foundation. The four flipping rod components 2 achieve symmetrical flipping on the same side through the same-side symmetrical flipping component 4. The built-in oblique straight slot 3 provides a movement path for the sliding gripper component 10. The same-side movable component 5 connects to the same-side sliding gripper component 10 and achieves lateral synchronous opening and closing under the drive of the synchronous opening and closing component 6 to adapt to PCB boards of different sizes. The synchronous flipping component 7 drives the same-side symmetrical flipping components 4 on both sides. The visual detection component 8 identifies PCB board information, and the lifting suction cup component 9 assists in positioning. The whole system works together to complete adaptive clamping.

[0050] The flipping rod assembly 2 of the present invention includes a rotating shaft 201 disposed on the clamping base plate 1, and a swing rod 203 disposed on the rotating shaft 201. The oblique straight slot 3 is disposed on a corresponding swing rod 203. In the flipping rod assembly 2, the rotating shaft 201 can rotate around the clamping base plate 1, driving the swing rod 203 thereon to rotate synchronously, so that the oblique straight slot 3 disposed on the swing rod 203 changes the tilt angle, providing different directions of motion trajectory for the sliding gripper assembly 10, and realizing the basis for adjusting the clamping angle.

[0051] The same-side symmetrical flipping assembly 4 of the present invention includes a symmetrical gear 401 disposed on the upper end of the rotating shaft 201, and the two symmetrical gears 401 mesh with each other for transmission; the two symmetrical gears 401 of the same-side symmetrical flipping assembly 4 are respectively fixed on the upper end of the rotating shaft 201 of the two flipping rod assemblies 2 on the same side, and mesh with each other; when one of the rotating shafts 201 rotates, it drives the other rotating shaft 201 to rotate symmetrically in the opposite direction through gear meshing transmission, so as to ensure that the swing rod 203 and the oblique straight groove 3 of the two flipping rod assemblies 2 on the same side achieve symmetrical flipping, and ensure clamping symmetry.

[0052] The sliding gripper assembly 10 of the present invention includes a gripper shaft 101, which is movably disposed within the inclined straight slot 3. Each of the two adjacent gripper shafts 101 has a gripper 102 on its opposite surface. The gripper shaft 101 of the sliding gripper assembly 10 slides within the inclined straight slot 3 and can be adjusted in position along the slot direction. The grippers 102 on the opposite surfaces of adjacent gripper shafts 101 can close or open by moving the gripper shaft 101, directly contacting and clamping the PCB board. The flexible clamping surface avoids damage to the board. Two grippers 102 on the same gripper shaft 101 can cooperate with other grippers 102 to complete the clamping of the PCB board in the width or length direction.

[0053] The same-side movable component 5 of the present invention includes a transverse guide groove 501 disposed on the clamping base plate 1, a transverse slider 502 disposed in the transverse guide groove 501, a longitudinal plate 503 disposed on the front and rear end faces of the transverse slider 502, a longitudinal straight slot 504 disposed on the longitudinal plate 503, and a gripper shaft 101 movably inserted into a corresponding longitudinal straight slot 504.

[0054] When the horizontal slider 502 moves left and right, it will drive the two vertical straight slots 504 on the same side to move left and right. At this time, the two gripper shafts 101 on the same side also move left and right. Because a synchronous opening and closing component 6 is provided, the four gripper shafts 101 on both sides will open or close synchronously during the adjustment process, adjusting the distance between the gripper shafts 101 on both sides to adapt to the clamping of PCB boards of different sizes.

[0055] When the four inclined straight slots 3 are flipped synchronously, the two inclined straight slots 3 on the same side will be flipped symmetrically, thereby driving the four gripper shafts 101 to move back and forth in the longitudinal straight slot 504, and the two sets of gripper shafts 101 can clamp and release.

[0056] Switching between clamping modes:

[0057] 1. When the gripper 102 moves obliquely toward the side wall of the PCB board to clamp, after adjusting the tilt angle of the flipping rod assembly 2, the flipping rod assembly 2 can be fixed. At this time, it is only necessary to control the forward and backward movement of the synchronous opening and closing assembly 6 to make the four grippers 102 feed and clamp the side wall of the PCB board obliquely along the path of the oblique straight slot 3.

[0058] 2. When the gripper 102 moves forward toward the side wall of the PCB board to clamp, after adjusting the front and rear position of the longitudinal slider 602, the left and right offset positions of the longitudinal straight slots 504 on both sides will be adjusted to fix the position of the longitudinal slider 602. At this time, simply flipping the flipping rod assembly 2 will drive the gripper 102 to close along the longitudinal straight slots 504 and clamp it forward toward the side of the PCB board.

[0059] In the same-side movable component 5, the horizontal slider 502 moves left and right along the horizontal guide groove 501, driving the vertical plate 503 and the vertical straight groove 504 to move synchronously; the gripper shaft 101 is inserted into the vertical straight groove 504, and moves laterally along the oblique straight groove 3 under the drive of the horizontal slider 502, realizing the synchronous opening and closing of the gripper 102 on the same side to adjust the spacing; when the oblique straight groove 3 is flipped synchronously with the flipping rod assembly 2, it drives the gripper shaft 101 to move back and forth in the vertical straight groove 504 to realize the clamping / releasing action; by fixing the flipping rod assembly 2 or the vertical slider 602, the switching and execution of the oblique or forward clamping mode can be realized respectively.

[0060] The synchronous opening and closing assembly 6 of the present invention includes a longitudinal guide groove 601 disposed between two transverse guide grooves 501. A longitudinal slider 602 is movably disposed within the longitudinal guide groove 601. A rotating screw 603 is rotatably disposed within the longitudinal guide groove 601. A longitudinal threaded hole is provided within the longitudinal slider 602. The rotating screw 603 passes through the longitudinal threaded hole and is threadedly connected to the longitudinal threaded hole. A first adjusting motor 605 is provided at the end of the longitudinal guide groove 601. The output end of the first adjusting motor 605 is coupled to the end of the rotating screw 603. A first... The hinge portion 606 has a second hinge portion 607 on each side of the longitudinal slider 602. The second hinge portion 607 and the first hinge portion 606 on the same side are hinged together by a connecting rod 608. In the synchronous opening and closing assembly 6, the first adjusting motor 605 drives the rotating screw 603 to rotate, so that the longitudinal slider 602 moves back and forth along the longitudinal guide groove 601. The longitudinal slider 602 connects the first hinge portion 606 of the transverse slider 502 and its own second hinge portion 607 through the connecting rods 608 on both sides, so as to convert the longitudinal movement into the transverse movement of the transverse slider 502, and synchronously drive the two grippers 102 to open and close, so as to realize the synchronous adjustment of the clamping size.

[0061] The synchronous flipping assembly 7 of the present invention includes a worm gear mounting base 701 disposed on the upper surface of the clamping base plate 1. An adjusting worm gear 704 is rotatably disposed within the worm gear mounting base 701. A second adjusting motor 702 is disposed on the worm gear mounting base 701. The output end of the second adjusting motor 702 is connected to the end of the adjusting worm gear 704 by a coupling. One end face of one of the two symmetrical gears 401 on the same side is provided with a worm wheel 703. The adjusting worm gear 704 passes through the two worm wheels 703 on both sides and is threadedly connected to the two worm wheels 703. In the synchronous flipping assembly 7, the second adjusting motor 702 drives the adjusting worm gear 704 to rotate. The two worm wheels 703 on both sides that mesh with the adjusting worm gear 704 are fixed to the end face of the symmetrical gear 401 and rotate synchronously in opposite directions. The symmetrical gear 401 drives the flipping rod assembly 2 on the same side to flip symmetrically, realizing the synchronous adjustment of the angle of the oblique straight slot 3, and providing power for the switching of the clamping mode.

[0062] An intelligent control method includes the following steps:

[0063] Inspection steps: Obtain the PCB board's size parameters and type information through the visual inspection component 8;

[0064] Mode selection steps: Based on the PCB board type information, the corresponding clamping mode is automatically selected. If it is a brittle PCB board, the oblique clamping mode is selected; if it is a normal PCB board, the forward clamping mode is selected.

[0065] Size adjustment steps: Based on the obtained size parameters, control the synchronous opening and closing component 6 to adjust the spacing of the sliding gripper component 10 to match the PCB board size;

[0066] Mode execution steps: According to the selected clamping mode, control the synchronous flipping component 7 to adjust the angle of the flipping rod component 2, and drive the sliding gripper component 10 to perform the corresponding clamping action;

[0067] Feedback and adjustment steps: During clamping, the clamping force and PCB board status are monitored in real time, and the clamping parameters are dynamically adjusted based on the monitoring results to ensure clamping stability and PCB board safety. The intelligent control method obtains the PCB board size and type through the visualization detection component 8; automatically selects the oblique or forward clamping mode according to the type; controls the synchronous opening and closing component 6 to adjust the jaw spacing according to the size parameters; adjusts the angle of the flipping rod through the synchronous flipping component 7 and drives the jaws to perform the corresponding clamping action; monitors the clamping force and board status in real time, and dynamically adjusts the parameters to ensure stability and safety, realizing automated adaptive clamping.

[0068] In the detection step of this invention, the PCB board image is captured by the visualization detection component 8, and the length, width, and thickness parameters of the PCB board are identified using machine vision algorithms. The material type of the PCB board is determined through image feature analysis. The machine vision algorithm includes an edge detection algorithm and a feature extraction algorithm. The edge detection algorithm is used to identify the outline dimensions of the PCB board, and the feature extraction algorithm is used to analyze the surface texture features of the PCB board to determine the material type. In the detection step, after the visualization detection component 8 captures the image, the edge detection algorithm identifies the outline of the PCB board to obtain dimensional parameters such as length, width, and thickness. The feature extraction algorithm analyzes the surface texture features to determine the material type, such as brittle or ordinary, providing accurate input data for mode selection and size adjustment.

[0069] In the feedback adjustment step of this invention, a pressure sensor is installed on the sliding gripper assembly 10 to monitor the clamping force in real time. When the clamping force exceeds a preset threshold, the synchronous opening and closing assembly 6 is controlled to reduce the clamping force. At the same time, the visual detection assembly 8 monitors in real time whether the PCB board is deformed or displaced. If an abnormality is found, the position and angle of the sliding gripper assembly 10 are automatically adjusted until the PCB board is in a stable clamping state. In the feedback adjustment step, the pressure sensor on the sliding gripper assembly 10 monitors the clamping force in real time. When the force exceeds the threshold, the synchronous opening and closing assembly 6 is controlled to reduce the force. The visual detection assembly 8 monitors in real time whether the PCB board is deformed or displaced. If an abnormality is found, the position and angle of the gripper 102 are automatically adjusted. Closed-loop control ensures clamping stability and board safety.

[0070] The foregoing has shown and described the basic principles and main features of the present invention, as well as its advantages. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the present invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. An adaptive adjusting PCB board clamping device, comprising a clamping base plate (1), characterized in that, The utility model provides a kind of flip substrate clamping device, including: Four flip rod assemblies (2) are respectively arranged at four corner positions of the clamping substrate (1); Four oblique straight slots (3) are respectively arranged on four flip rod assemblies (2); Two same side symmetrical flip assemblies (4) are respectively arranged between two flip rod assemblies (2) on the same side; A sliding jaw assembly (10) is movably arranged in the oblique straight slot (3); Two same side movable assemblies (5) are respectively connected with two sliding jaw assemblies (10) on the same side; A synchronous opening and closing assembly (6) is connected between two same side movable assemblies (5); A synchronous flip assembly (7) is connected between two same side symmetrical flip assemblies (4); A visual detection assembly (8) and a lifting suction cup assembly (9) are arranged on the clamping substrate (1).

2. The self-adjusting PCB board clamping device of claim 1, wherein: The flip rod assembly (2) includes a rotating shaft body (201) arranged on the clamping substrate (1), an oscillating rod (203) is arranged on the rotating shaft body (201), and the oblique straight slot (3) is arranged on the corresponding oscillating rod (203).

3. The self-adjusting PCB board clamping device of claim 2, wherein: The same side symmetrical flip assembly (4) includes a symmetrical gear (401) arranged on the upper end of the rotating shaft body (201), and the two symmetrical gears (401) are meshed with each other.

4. The self-adjusting PCB board clamping device of claim 3, wherein: The sliding jaw assembly (10) includes a jaw shaft (101), the jaw shaft (101) is movably arranged in the oblique straight slot (3), and adjacent two jaw shafts (101) are respectively provided with a jaw (102) on the opposite surface.

5. An adaptive adjusting PCB board clamping device according to claim 4, characterized in that: The same side movable assembly (5) includes a transverse guide slot (501) arranged on the clamping substrate (1), a transverse sliding block (502) is arranged in the transverse guide slot (501), a longitudinal plate (503) is arranged on the front and rear end surfaces of the transverse sliding block (502), a longitudinal straight slot (504) is arranged on the longitudinal plate (503), and the jaw shaft (101) is movably inserted into the corresponding longitudinal straight slot (504).

6. An adaptive adjusting PCB board clamping device according to claim 5, characterized in that: The synchronous opening and closing assembly (6) includes a longitudinal guide slot (601) arranged between two transverse guide slots (501), a longitudinal sliding block (602) is movably arranged in the longitudinal guide slot (601), a rotating screw (603) is rotatably arranged in the longitudinal guide slot (601), a longitudinal screw hole is arranged in the longitudinal sliding block (602), the rotating screw (603) passes through the longitudinal screw hole and is threadedly connected with the longitudinal screw hole, a first adjusting motor (605) is arranged at the end of the longitudinal guide slot (601), the output end of the first adjusting motor (605) is connected with the end of the rotating screw (603) through shaft connection, a first hinged part (606) is arranged on the transverse sliding block (502), a second hinged part (607) is arranged on both sides of the longitudinal sliding block (602), and a connecting rod (608) is hinged between the second hinged part (607) and the first hinged part (606) on the same side.

7. An adaptive adjusting PCB board clamping device according to claim 6, characterized in that: The synchronous turnover assembly (7) comprises a worm mounting seat (701) arranged on the upper surface of the clamping base plate (1), an adjusting worm (704) is rotatably arranged in the worm mounting seat (701), a second adjusting motor (702) is arranged on the worm mounting seat (701), the output end of the second adjusting motor (702) is connected with the end of the adjusting worm (704) in a shaft connection mode, one of the two symmetrical gears (401) on the same side is provided with a worm wheel (703), and the adjusting worm (704) penetrates through the two worm wheels (703) and is in threaded connection with the two worm wheels (703).

8. A smart control method, the PCB clamping device is the PCB clamping device with self-adaptive adjusting clamping jaw in any one of claims 1-7, characterized in that, The method comprises the following steps: A detection step: acquiring size parameters and type information of the PCB by a visual detection assembly (8); A mode selection step: automatically selecting a corresponding clamping mode according to the type information of the PCB, selecting an oblique clamping mode if the PCB is of brittle material, and selecting a forward clamping mode if the PCB is of ordinary material; A size adjustment step: controlling a synchronous opening and closing assembly (6) to adjust the distance between the sliding clamping jaw assemblies (10) according to the acquired size parameters, so that the sliding clamping jaw assemblies (10) are matched with the size of the PCB; A mode execution step: controlling a synchronous turnover assembly (7) to adjust the angle of the turnover rod assembly (2) according to the selected clamping mode, and driving the sliding clamping jaw assemblies (10) to perform corresponding clamping actions; A feedback adjustment step: monitoring the clamping force and the state of the PCB in real time during the clamping process, and dynamically adjusting the clamping parameters according to the monitoring results to ensure the stability of the clamping and the safety of the PCB.

9. The intelligent control method of claim 8, wherein: In the detection step, the visual detection assembly (8) shoots an image of the PCB, a machine vision algorithm is used to identify the length, width and thickness parameters of the PCB, and the material type of the PCB is determined through image feature analysis; the machine vision algorithm comprises an edge detection algorithm and a feature extraction algorithm, the edge detection algorithm is used to identify the contour size of the PCB, and the feature extraction algorithm is used to analyze the texture features of the surface of the PCB to determine the material type.

10. The intelligent control method of claim 9, wherein: In the feedback adjustment step, a pressure sensor is arranged on the sliding clamping jaw assembly (10) to monitor the clamping force in real time, when the clamping force exceeds a preset threshold, the synchronous opening and closing assembly (6) is controlled to reduce the clamping force; at the same time, the visual detection assembly (8) is used to monitor whether the PCB is deformed or displaced in real time, if there is an abnormality, the position and angle of the sliding clamping jaw assembly (10) are automatically adjusted until the PCB is in a stable clamping state.

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