A vision-based positioning and anti-offset clamping structure for a PCB punching machine robot

Abstract

This invention discloses a visual positioning and anti-offset clamping structure for a PCB punching machine robot, relating to the field of PCB processing technology. It includes a top frame and a supplementary light. A lead screw is installed in the middle of the top frame, and a threaded block is threaded onto the outer surface of the lead screw. A vibration damping component for auxiliary vibration reduction is located at the bottom of the threaded block. This visual positioning and anti-offset clamping structure for the PCB punching machine robot achieves the synergistic effect of active vibration damping by piezoelectric ceramics and passive buffering by preloaded springs through the vibration damping component. A three-axis accelerometer collects high-frequency vibration signals in the vertical direction in real time. The controller drives the piezoelectric ceramic actuator for micron-level rapid reverse compensation, accurately offsetting the micro-vibrations generated by punching and robot movement. The guide rod locks the horizontal offset, ensuring the stability of the CCD camera's visual positioning reference. This effectively solves the problem of vibration interference in positioning accuracy in traditional rigid structures, significantly improving the alignment accuracy of PCB punching machines and reducing processing scrap rates.

Description

Technical Field

[0001] This invention relates to the field of PCB processing technology, specifically to a vision positioning and anti-offset clamping structure for a PCB punching robot. Background Technology

[0002] In the field of automated PCB stamping production, robotic arms undertake the core tasks of loading, unloading, and clamping PCBs, directly affecting the stamping accuracy and product yield. The smoothness of their loading and unloading movements, positioning accuracy, and clamping force control effectively prevent problems such as board misalignment, scratches, and deformation, ensuring consistent stamping dimensions. Simultaneously, they replace manual labor in repetitive and high-risk processes, improving production cycle time and stability, reducing human error, and laying a solid foundation for efficient mass production.

[0003] Existing PCB punching machine clamping robots mostly adopt rigid clamping structures and rely on lead screw modules to complete position adjustment. However, the punching operation and the start, stop and change direction of the robot's lead screw will generate high-frequency micro-vibrations, which can easily cause slight deviations in the clamping mechanism, resulting in inaccurate CCD vision positioning, PCB board alignment deviations, and problems such as punching misalignment and board scrap. In addition, the vibration reduction methods mostly use passive vibration reduction structures such as rubber pads and ordinary springs, which have limited effect on suppressing high-frequency micron-level vibrations.

[0004] Therefore, in view of this, we have studied and improved the existing structure and its shortcomings, and proposed a vision positioning anti-offset clamping structure for a PCB punching robot. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a visual positioning and anti-offset clamping structure for a PCB punching machine robot, which solves the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a visual positioning and anti-deviation clamping structure for a PCB punching machine robot, comprising a top frame and a supplementary light. A lead screw is installed in the middle of the top frame, and a threaded block is threaded on the outer surface of the lead screw. A vibration damping component for auxiliary vibration reduction is provided at the bottom of the threaded block. The vibration damping component includes a base, a preload spring, guide rods, and a piezoelectric ceramic actuator. Guide rods are installed at each of the four corners of the base. A piezoelectric ceramic actuator is installed at the bottom of the base, and a preload spring is coaxially sleeved on the outside of the piezoelectric ceramic actuator. A clamping seat is installed at the bottom of the preload spring. The clamping seat 1 has a drive assembly for auxiliary clamping inside. The drive assembly includes a servo motor 3 and a connecting shaft. The output end of the servo motor 3 is equipped with the connecting shaft. The end of the connecting shaft is equipped with a flange 1. A hydraulic rod is fixedly installed on the connecting shaft by bolts and flange 1. The output end of the hydraulic rod is equipped with a clamping seat 2. A connecting seat is provided on one side of the bottom of the clamping seat 1 and the clamping seat 2. A three-axis accelerometer is fixedly installed on the outer surface of the connecting seat. A CCD camera is installed at the bottom of the connecting seat. The fill lights are distributed in a ring around the outside of the CCD camera. A sliding column is slidably installed inside the top frame.

[0007] Furthermore, the drive assembly also includes a connecting plate, a sliding groove, a sliding rod, a connecting sleeve, and a clamping plate. The connecting sleeve is provided on the outer surface of the connecting shaft. The connecting plate is integrally installed on the outside of the connecting sleeve. The sliding groove is provided inside the connecting plate. The sliding rod is slidably installed inside the sliding groove. The end of the sliding rod is provided with a clamping plate.

[0008] Furthermore, a second clamping plate is installed on one side of the first clamping plate, and rubber pads are installed on the bottom outer surfaces of the first clamping plate and the second clamping plate.

[0009] Furthermore, the bottom of the clamping seat is provided with a support frame, and the cross-section of the support frame is trapezoidal.

[0010] Furthermore, a crossbar is fixedly installed inside the support frame, and the end of the crossbar is integrally formed with the support frame.

[0011] Furthermore, a second flange is provided on the outer side of the clamping seat one near the flange one, and a rod one is fixedly installed on the flange two by bolts, and a second rod is slidably provided on the outer side of the rod one.

[0012] Furthermore, a servo motor is installed at the end of the lead screw, and a support frame is provided on one side of the end of the top frame.

[0013] Furthermore, the top frame and the support frame are vertically distributed, and the bottom of the support frame is provided with an adjustment component for assisting in height adjustment.

[0014] Furthermore, the adjustment assembly includes a second servo motor and a second lead screw, and the output end of the second servo motor is equipped with the second lead screw, the outer surface of which is threadedly connected to the support frame.

[0015] Furthermore, the adjustment assembly also includes a base frame and a mounting plate, and the base frame is mounted on the outside of the servo motor 2, with the mounting plate integrally provided at the bottom of the base frame.

[0016] This invention provides a vision-based positioning and anti-deviation clamping structure for a PCB punching machine robot, which has the following advantages: 1. The visual positioning and anti-offset clamping structure of this PCB punching robot achieves the synergistic effect of active vibration reduction by piezoelectric ceramics and passive buffering by preload springs through vibration damping components. A three-axis accelerometer collects high-frequency vibration signals in the vertical direction in real time, and the controller drives the piezoelectric ceramic actuator to perform micron-level rapid reverse compensation, accurately offsetting the micro-vibrations generated by punching and robot movement. The guide rod locks the horizontal offset, ensuring the stability of the visual positioning reference of the CCD camera. This effectively solves the problem of vibration interference in positioning accuracy of traditional rigid structures, greatly improves the alignment accuracy of PCB punching, and reduces the processing scrap rate.

[0017] 2. The visual positioning and anti-deviation clamping structure of this PCB punching robot adopts a servo motor and hydraulic rod coordinated drive, which can flexibly adjust the clamping seat spacing to adapt to the clamping needs of PCB boards of various specifications and sizes. Clamping plate one and clamping plate two work together to achieve double-sided flexible clamping. The bottom rubber pad increases the clamping friction while avoiding pressure and impact damage to the PCB board surface, effectively preventing board slippage. Symmetrical clamping units can be added through flange assembly to realize synchronous gripping of two PCB boards, improving loading and unloading efficiency. The sliding guide structure of rod one and rod two ensures smooth and accurate clamping opening and closing process. The trapezoidal support frame and crossbar strengthen the overall rigidity of clamping and suppress clamping deformation. It solves the problems of poor adaptability, insufficient stability and easy deviation of traditional clamping methods, effectively improving the clamping reliability and operational safety of PCB boards in the entire process of punching, loading, unloading and alignment.

[0018] 3. The visual positioning and anti-offset clamping structure of this PCB punching robot can achieve continuous and precise vertical height adjustment through the adjustment component, and complete the horizontal displacement fine adjustment in conjunction with the lead screw. It can adapt to the processing needs of PCB boards of different thicknesses at different workstations of the punching machine. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall structure of a visual positioning and anti-offset clamping structure for a PCB punching robot according to the present invention. Figure 2 This is a schematic diagram of the adjustment component structure of the visual positioning and anti-offset clamping structure of a PCB punching robot according to the present invention; Figure 3This is a schematic diagram of the distribution structure of clamping seat one and clamping seat two of the visual positioning and anti-offset clamping structure of a PCB punching robot according to the present invention. Figure 4 This is a schematic diagram of the connecting structure of the connecting seat of the visual positioning and anti-offset clamping structure of the PCB punching robot of the present invention; Figure 5 This is a schematic diagram of the drive component structure of a vision positioning and anti-offset clamping structure for a PCB punching robot according to the present invention; Figure 6 This is a schematic diagram of the distribution structure of clamping plate one and clamping plate two of the visual positioning and anti-offset clamping structure of a PCB punching robot according to the present invention.

[0020] In the diagram: 1. Top frame; 2. Support frame; 3. Servo motor one; 4. Clamping seat one; 5. Clamping seat two; 6. Threaded block; 7. Lead screw one; 8. Sliding column; 9. Adjustment assembly; 901. Bottom frame; 902. Mounting plate; 903. Servo motor two; 904. Lead screw two; 10. Flange one; 11. Hydraulic rod; 12. Flange two; 13. Rod one; 14. Rod two; 15. Support frame; 16. Connecting seat; 17. Fill light; 18. CCD Camera; 19. Drive assembly; 1901. Servo motor three; 1902. Connecting shaft; 1903. Connecting plate; 1904. Slide groove; 1905. Slide rod; 1906. Connecting sleeve; 1907. Clamping plate one; 20. Clamping plate two; 21. Crossbar; 22. Vibration damping assembly; 2201. Base; 2202. Preload spring; 2203. Guide rod; 2204. Piezoelectric ceramic actuator; 23. Rubber pad; 24. Triaxial accelerometer. Detailed Implementation

[0021] The embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and should not be construed as limiting the scope of the invention.

[0022] like Figures 1-6As shown, the present invention provides a technical solution: a visual positioning anti-offset clamping structure for a PCB punching machine robot, comprising a top frame 1, a support frame 2, a servo motor 1, a clamping seat 1 4, a clamping seat 2 5, a threaded block 6, a lead screw 1 7, a sliding column 8, an adjustment assembly 9, a bottom frame 901, a mounting plate 902, a servo motor 2 903, a lead screw 2 904, a flange 10, a hydraulic rod 11, a flange 2 12, a rod 1 13, a rod 2 14, a support frame 15, a connecting seat 16, a supplementary light 17, a CCD camera 18, a drive assembly 19, a servo motor 3 1901, a connecting shaft 1902, a connecting plate 1903, a sliding groove 1904, a sliding rod 1905, a connecting sleeve 1906, a clamping plate 1907, a clamping plate 20, a crossbar 21, and a vibration damping assembly 22. The system comprises a base 2201, a preload spring 2202, a guide rod 2203, a piezoelectric ceramic actuator 2204, a rubber pad 23, and a triaxial acceleration sensor 24. A lead screw 7 is mounted in the middle of the top frame 1, and a threaded block 6 is threaded onto the outer surface of the lead screw 7. A damping assembly 22 for auxiliary vibration reduction is located at the bottom of the threaded block 6. The damping assembly 22 includes the base 2201, the preload spring 2202, the guide rod 2203, and the piezoelectric ceramic actuator 2204. Guide rods 2203 are mounted at each of the four corners of the base 2201. The piezoelectric ceramic actuator 2204 is mounted at the bottom of the base 2201, and a preload spring 2202 is coaxially sleeved around the piezoelectric ceramic actuator 2204. A clamping seat 4 is mounted at the bottom of the preload spring 2202. The clamping seat 4 has a drive assembly 19 for auxiliary clamping inside. A flange 12 is located on the outside of the clamping seat 4 near the flange 10. A rod 13 is bolted to the flange 12, and a rod 14 is slidably mounted on the outside of the rod 13. A support frame 15 is located at the bottom of the clamping seat 4, and the support frame 15 has a trapezoidal cross-section. A crossbar 21 is fixedly mounted inside the support frame 15, and the end of the crossbar 21 is integrated with the support frame 15. The drive assembly 19 also includes a connecting plate 1903, a sliding groove 1904, a sliding rod 1905, a connecting sleeve 1906, and a clamping plate 1907. A connecting sleeve 1906 is provided on the outer surface of the connecting shaft 1902, and a connecting plate 1906 is integrally mounted on the outside of the connecting sleeve 1906. 903, and the connecting plate 1903 has a sliding groove 1904 inside, and a sliding rod 1905 is slidably installed inside the sliding groove 1904. The end of the sliding rod 1905 is provided with a clamping plate 1907. A clamping plate 20 is installed on one side of the clamping plate 1907. Rubber pads 23 are installed on the bottom outer surfaces of the clamping plate 1907 and the clamping plate 20. The vibration-damped clamping seat 4 drives the clamping mechanism to be precisely aligned. The servo motor 3 1901 drives the connecting sleeve 1906 and the connecting plate 1903 to move synchronously through the connecting shaft 1902, so that the sliding rod 1905 slides along the inside of the sliding groove 1904, thereby driving the clamping plate 1907 to complete the opening and closing action. The clamping plate 1907 moves closer or further away from the clamping plate 20 synchronously, realizing the precise clamping and unloading of the PCB board.Simultaneously, a symmetrical clamping structure can be added via flange 10 and flange 22, enabling clamping seat 14 and clamping seat 25 to clamp synchronously, allowing simultaneous gripping of two sets of PCB boards. The distance between the two clamping structures is adjusted via hydraulic rod 11 to accommodate PCB boards of different sizes. When the PCB board is large, clamping plates 1907 and 20 corresponding to the two clamping seats can be used to position and clamp the PCB board, significantly improving the clamping stability of large-size PCB boards. The rubber pads 23 at the bottom of the clamping plates increase the clamping friction, preventing the PCB board from slipping or bumping. To prevent collision damage, the vibration damping component 22 is used to suppress high-frequency micro-vibrations generated during the movement, clamping, and punching operations of the robotic arm, ensuring the stability of the visual positioning reference. The base 2201 is rigidly connected to the upper threaded block 6, and completes a large-range horizontal displacement with the lead screw 7. Multiple sets of piezoelectric ceramic actuators 2204 and preload springs 2202 are arranged vertically and coaxially between the base 2201 and the clamping seat 4. The guide rod 2203 restricts the horizontal offset of the clamping seat 4 relative to the base 2201, allowing only micro-displacement in the vertical direction. The triaxial accelerometer 24 collects data in real time. Vibration signals from the clamping base 4 and CCD camera 18 are transmitted to the controller. The controller outputs a high-voltage drive signal to drive the piezoelectric ceramic actuator 2204 to extend and retract rapidly at high frequency, counteracting the small vertical vibration displacement. The preload spring 2202 bears the static load of the clamping mechanism, camera, and PCB board, while providing reset force and rigid support to achieve active vibration reduction, avoid vibration interference with the CCD camera's imaging accuracy, and prevent PCB board misalignment. The drive assembly 19 includes a servo motor 1901 and a connecting shaft 1902, and the servo motor 1901... A connecting shaft 1902 is installed at the output end. A flange 10 is provided at the end of the connecting shaft 1902. A hydraulic rod 11 is fixedly installed on the connecting shaft 1902 via bolts and the flange 10. A clamping seat 2 5 is installed at the output end of the hydraulic rod 11. A connecting seat 16 is provided on one side of the bottom of the clamping seats 1 4 and 2 5. A triaxial accelerometer 24 is fixedly installed on the outer surface of the connecting seat 16. A CCD camera 18 is installed at the bottom of the connecting seat 16. Fill lights 17 are arranged in a ring around the outside of the CCD camera 18. A sliding column 8 is slidably installed inside the top frame 1.

[0023] like Figure 1 and Figure 2As shown, a servo motor 3 is installed at the end of the lead screw 7, and a support frame 2 is provided on one side of the end of the top frame 1. The top frame 1 and the support frame 2 are vertically distributed, and an adjustment component 9 for auxiliary height adjustment is provided at the bottom of the support frame 2. The adjustment component 9 includes a servo motor 903 and a lead screw 904, and the lead screw 904 is installed at the output end of the servo motor 903. The outer surface of the lead screw 904 is threadedly connected to the support frame 2. The adjustment component 9 also includes a bottom frame 901 and a mounting plate 902, and the bottom frame 901 is installed on the outside of the servo motor 903. The mounting plate 902 is integrally provided at the bottom of the bottom frame 901. The adjustment component 9 provides height adjustment function for the entire structure. After the servo motor 903 is started, it drives the lead screw 904 to rotate. The support frame 2 is threaded, and the rotating lead screw 904 will drive the support frame 2 to move up and down, thereby adjusting the height of the top frame 1 and the clamping mechanism below to adapt to the punching height requirements of different PCB boards. The bottom frame 901 provides a stable mounting base for the servo motor 903. The mounting plate 902 is used to fix the entire equipment at the corresponding station of the punching machine to ensure the overall stability of the equipment during operation. Next, in the horizontal position adjustment stage: the servo motor 3 on the top frame 1 starts, driving the lead screw 7 installed in the middle to rotate. The threaded block 6 on the outer surface of the lead screw 7 slides horizontally along the length of the lead screw 7 under the action of the lead screw rotation, and simultaneously drives the vibration damping component 22 and the clamping mechanism connected at the bottom to move horizontally, realizing the horizontal fine adjustment of the clamping position and initially aligning with the area of ​​the PCB board to be clamped.

[0024] In summary, as Figures 1-6As shown, the visual positioning and anti-offset clamping structure of this PCB punching robot allows for height adjustment via the adjustment component 9. Servo motor 903 drives lead screw 904 to rotate, which in turn moves the support frame 2 vertically, adjusting the height of the top frame 1 and the entire lower mechanism. This adapts to the punching height requirements of different PCB board specifications. The bottom frame 901 provides the mounting base for servo motor 903, and the mounting plate 902 fixes the entire device to the punching station, ensuring the stability of the machine. Simultaneously, the lead screw drive adjustment method allows for continuous and precise height fine-tuning, meeting the height difference requirements of different processes such as PCB board loading, alignment, and unloading, and preventing height-related issues. Deviation caused problems with incomplete clamping and misalignment. Horizontal position adjustment was then performed. Servo motor 3 drove lead screw 7 to rotate, and threaded block 6 caused the base 2201 of the vibration damping assembly 22 to move horizontally, completing the initial horizontal alignment of the clamping position. The base 2201 and clamping seat 4 were locked together by guide rod 2203 to prevent horizontal displacement, releasing only the vertical micrometer-level freedom of movement to avoid horizontal inertial swaying. Simultaneously, sliding column 8 provided auxiliary limiting for the movement of top frame 1, further improving the guiding accuracy during horizontal movement and ensuring that the clamping mechanism did not skew during horizontal movement. Afterwards, visual positioning and vibration offset detection were performed. Clamping seat 4 is a vibration-damping floating base. The quasi-platform uses a CCD camera 18 to acquire real-time position images of the PCB board with the assistance of a supplementary light 17. A three-axis accelerometer 24 acquires high-frequency vibration signals in the vertical direction of the clamping seat 4 in real time, synchronously feeding image information and vibration data back to the controller. This achieves dual protection of visual positioning and real-time vibration monitoring. The controller can fine-tune the horizontal and vertical positions in real time based on image deviations, and simultaneously predict vibration trends based on vibration data, driving the vibration damping component 22 in advance for compensation. This achieves coordinated control of positioning and vibration damping, followed by precise clamping operations. Servo motor 1901 and hydraulic rod 11 are both installed on the damped clamping seat 4. Servo motor 1901 drives the connecting shaft 19. 02 Rotation, on the one hand, drives the hydraulic rod 11 to extend and retract through flange 10, adjusting the distance between clamping seat 14 and clamping seat 25, on the other hand, drives the connecting sleeve 1906 and connecting plate 1903 to rotate, and slide rod 1905 slides along slide groove 1904, driving clamping plate 1907 and clamping plate 20 to open and close, flexibly clamping the PCB board on both sides. Rubber pad 23 increases the clamping friction and prevents the PCB board from being damaged by pressure. Rod 13 and rod 24 provide moving guides for clamping seat 25 to ensure stable clamping. A symmetrical clamping structure can be added through flange 10 and flange 22 to realize the synchronous gripping of two PCB boards. The hydraulic rod 11 adjusts the clamping distance to adapt to different sized boards.The support frame 15 and crossbar 21 enhance the rigidity of the clamping structure and prevent clamping deformation. Finally, the vibration damping component 22 achieves active vibration damping and anti-deviation. The vertical vibration signal collected by the triaxial accelerometer 24 is processed by the controller, and a high-voltage electrical signal is output to drive the piezoelectric ceramic actuator 2204 to extend and retract in the high frequency, offsetting the small vertical vibration displacement. The preload spring 2202 bears the static load of the clamping mechanism, camera, and PCB board, providing reset force and rigid support. The guide rod 2203 constrains horizontal deviation throughout the entire process, suppressing punching and machining. The vertical high-frequency micro-vibrations generated by the movement of the robotic arm and the start and stop of the clamping mechanism prevent vibration from interfering with the imaging accuracy of the CCD camera 18, prevent PCB board clamping misalignment, and ensure the processing quality of the punch press. The piezoelectric ceramic actuator 2204 has a fast response speed and compensation accuracy down to the micrometer level, which can accurately counteract high-frequency disturbances such as punch press impact and lead screw start and stop vibration. The preload spring 2202 works in synergy with the piezoelectric ceramic to balance structural rigidity and vibration damping flexibility, significantly improving the positioning stability and processing qualification rate of the entire process of PCB board loading, punching, and unloading.

[0025] The embodiments of the present invention are given for illustrative and descriptive purposes only, and are not intended to be exhaustive or to limit the invention to the forms disclosed. Many modifications and variations will be apparent to those skilled in the art. The embodiments were chosen and described in order to better illustrate the principles and practical application of the invention, and to enable those skilled in the art to understand the invention and to design various embodiments with various modifications suitable for a particular purpose.

Claims

1. A visual positioning and anti-offset clamping structure for a PCB punching machine robot, comprising a top frame (1) and a supplementary light (17), characterized in that: A lead screw (7) is installed in the middle of the top frame (1), and a threaded block (6) is threaded on the outer surface of the lead screw (7). A damping component (22) for auxiliary vibration reduction is provided at the bottom of the threaded block (6). The damping component (22) includes a base (2201), a preload spring (2202), a guide rod (2203), and a piezoelectric ceramic actuator (2204). Guide rods (2203) are installed at the four corners of the base (2201). A piezoelectric ceramic actuator (2204) is installed at the bottom of the base (2201). A preload spring (2202) is coaxially sleeved on the outside of the piezoelectric ceramic actuator (2204). A clamping seat (4) is installed at the bottom of the preload spring (2202). A drive component (19) for auxiliary clamping is provided inside the clamping seat (4). The component (19) includes a servo motor three (1901) and a connecting shaft (1902), and the output end of the servo motor three (1901) is equipped with the connecting shaft (1902). The end of the connecting shaft (1902) is provided with a flange one (10), and the connecting shaft (1902) is fixedly installed with a hydraulic rod (11) by bolts and flange one (10). The output end of the hydraulic rod (11) is equipped with a clamping seat two (5). The bottom side of the clamping seat one (4) and the clamping seat two (5) is provided with a connecting seat (16), and a three-axis accelerometer (24) is fixedly installed on the outer surface of the connecting seat (16). A CCD camera (18) is installed at the bottom of the connecting seat (16). The fill light (17) is distributed in a ring around the outside of the CCD camera (18). A sliding column (8) is slidably installed inside the top frame (1).

2. The visual positioning and anti-deviation clamping structure for a PCB punching machine robot according to claim 1, characterized in that: The drive assembly (19) further includes a connecting plate (1903), a sliding groove (1904), a sliding rod (1905), a connecting sleeve (1906), and a clamping plate (1907). The connecting sleeve (1906) is provided on the outer surface of the connecting shaft (1902). The connecting plate (1903) is integrally installed on the outside of the connecting sleeve (1906). The sliding groove (1904) is opened inside the connecting plate (1903). The sliding rod (1905) is slidably installed inside the sliding groove (1904). The clamping plate (1907) is provided at the end of the sliding rod (1905).

3. The visual positioning and anti-deviation clamping structure for a PCB punching machine robot according to claim 2, characterized in that: A second clamp (20) is installed on one side of the clamping plate one (1907), and a rubber pad (23) is installed on the bottom outer surface of the clamping plate one (1907) and the clamping plate two (20).

4. The visual positioning and anti-deviation clamping structure for a PCB punching machine robot according to claim 1, characterized in that: The bottom of the clamping seat (4) is provided with a support frame (15), and the cross section of the support frame (15) is trapezoidal.

5. The visual positioning and anti-deviation clamping structure for a PCB punching machine robot according to claim 4, characterized in that: The support frame (15) has a crossbar (21) fixedly installed inside, and the end of the crossbar (21) is integrated with the support frame (15).

6. The visual positioning and anti-deviation clamping structure for a PCB punching machine robot according to claim 1, characterized in that: A flange 2 (12) is provided on the side of the clamping seat 1 (4) near the flange 1 (10), and a rod 1 (13) is fixedly installed on the flange 2 (12) by bolts, and a rod 2 (14) is slidably provided on the outside of the rod 1 (13).

7. The visual positioning and anti-deviation clamping structure for a PCB punching machine robot according to claim 1, characterized in that: The end of the lead screw (7) is equipped with a servo motor (3), and a support frame (2) is provided on one side of the end of the top frame (1).

8. The visual positioning and anti-deviation clamping structure for a PCB punching machine robot according to claim 7, characterized in that: The top frame (1) and the support frame (2) are vertically distributed, and the bottom of the support frame (2) is provided with an adjustment component (9) for assisting in height adjustment.

9. The visual positioning and anti-deviation clamping structure for a PCB punching machine robot according to claim 8, characterized in that: The adjustment component (9) includes a second servo motor (903) and a second lead screw (904), and the output end of the second servo motor (903) is equipped with the second lead screw (904), and the outer surface of the second lead screw (904) is threadedly connected to the support frame (2).

10. The visual positioning and anti-deviation clamping structure for a PCB punching machine robot according to claim 9, characterized in that: The adjustment component (9) also includes a bottom frame (901) and a mounting plate (902), and the bottom frame (901) is mounted on the outside of the servo motor (903), and the mounting plate (902) is integrally provided on the bottom of the bottom frame (901).

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