SMD (Surface Mount Device) tray clamping device based on CCD (Charge Coupled Device) full-automatic positioning

Abstract

The utility model relates to the technical field of mechanical equipment, in particular to an SMD (Surface Mount Device) tray clamping device based on CCD (Charge Coupled Device) full-automatic positioning. The device comprises a rack, an X-axis moving assembly, a Y-axis moving assembly and a Z-axis moving assembly are arranged on the rack, an adjustable clamping jaw is arranged on the Z-axis moving assembly, a bearing table and an alignment camera are arranged on the rack, and the alignment camera and the adjustable clamping jaw are both electrically connected with a control system. Workpiece images are collected through the alignment camera and processed and analyzed through the control system, the clamping range of the adjustable clamping jaw and movement of all the moving assemblies are precisely controlled, precise clamping and positioning placement of workpieces of different sizes are achieved, and the production efficiency and precision are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mechanical equipment, and particularly relates to an SMD tray clamping device based on CCD full-automatic positioning. BACKGROUND

[0002] In the field of SMD production, clamping and accurate positioning of the tray are key links to ensure smooth and efficient production process. With the rapid development of the electronic industry, the production efficiency and quality requirements of SMD devices are increasingly improved, which puts forward higher challenges to the tray clamping device. The traditional manual operation method has been difficult to meet the needs of modern production, therefore, the automatic and high-precision tray clamping device gradually becomes the development trend of the industry. These devices not only improve the production efficiency, but also significantly improve the quality and consistency of products, thereby promoting the progress and development of the entire electronic manufacturing industry.

[0003] In the existing SMD tray clamping technology, common methods include manual clamping, semi-automatic clamping and some simple automatic clamping devices. Manual clamping relies on the experience and technology of the operator, although it has high flexibility, but is easily affected by human factors, resulting in low clamping accuracy and low production efficiency. The semi-automatic clamping device is usually equipped with some basic positioning functions, but still needs manual assistance and cannot completely realize unmanned operation. While some simple automatic clamping devices can reduce manual intervention, but when facing different specifications of the tray, the adaptability and flexibility are poor, and the clamps need to be frequently replaced, increasing the production cost and time cost.

[0004] However, these existing solutions generally have problems of inaccurate positioning and poor adaptability. Especially in the application scenarios of high-precision and multi-specification trays, the traditional clamping device often cannot meet the needs, resulting in low production efficiency and unstable product quality.

[0005] Therefore, based on the above problems, the prior art needs to be improved. CONTENT OF THE INVENTION

[0006] The purpose of the present application is to provide an SMD tray clamping device based on CCD full-automatic positioning.

[0007] The above technical purpose of the application is achieved by the following technical scheme: a SMD tray clamping device based on CCD full-automatic positioning, comprising a rack, wherein an X-axis moving assembly is arranged on the rack, a Y-axis moving assembly is arranged on the X-axis moving assembly, a Z-axis moving assembly is arranged on the Y-axis moving assembly, and an adjustable clamping jaw is arranged on the Z-axis moving assembly; a receiving table is arranged on the rack for receiving a workpiece, a positioning camera is arranged on the rack corresponding to the receiving table, the adjustable clamping jaw and the positioning camera are electrically connected with a control system, and the control system accurately controls the clamping range of the adjustable clamping jaw and the movement of the X-axis moving assembly, the Y-axis moving assembly and the Z-axis moving assembly based on the workpiece image information collected by the positioning camera, so as to realize accurate clamping and positioning placement of workpieces of different sizes.

[0008] By adopting the above technical scheme, the CCD full-automatic positioning technology is combined with the high-precision X-axis moving assembly, Y-axis moving assembly and Z-axis moving assembly to realize accurate positioning of the workpiece in the three-dimensional space, improve clamping accuracy, reduce production problems caused by positioning errors, and improve product quality; the adjustable clamping jaw adapts to workpieces of different sizes, without the need to frequently replace clamping tools, thereby reducing cost and time cost and improving production efficiency.

[0009] Optionally, the X-axis moving assembly comprises a first sliding rail, a first sliding block is arranged on the first sliding rail, and a first driving member is connected to the first sliding block to drive the first sliding block to slide on the first sliding rail.

[0010] By adopting the above technical scheme, the combination of the first sliding rail and the first sliding block provides stable and accurate guidance for movement in the X-axis direction, ensuring the linearity and stability of movement. The first driving member is arranged to enable the first sliding block to slide accurately on the first sliding rail, which can realize accurate position control according to the instructions of the control system, so as to ensure that the entire clamping device can accurately move to a specified position according to a predetermined trajectory in the X-axis direction, which is crucial for accurately clamping workpieces located at different X-axis coordinate positions, effectively avoiding clamping failure or inaccurate clamping caused by X-axis direction position deviation, and further improving the clamping accuracy and working reliability of the device as a whole.

[0011] Optionally, the Y-axis moving assembly comprises a second sliding rail, a second sliding block is arranged on the second sliding rail, and a second driving member is connected to the second sliding block to drive the second sliding block to slide on the second sliding rail.

[0012] By adopting the above technical scheme, the structure of the second sliding rail and the second sliding block builds a stable and accurate guide path for movement in the Y-axis direction, ensuring stability and linearity during movement. The addition of the second driving member enables the second sliding block to slide accurately on the second sliding rail, and by virtue of its response capability to control system instructions, it can accurately control the position change in the Y-axis direction. This enables the clamping device to accurately reach the target position in the Y-axis direction, which is crucial for meeting the clamping requirements of workpieces at different Y-axis positions, effectively avoiding the adverse effects of Y-axis position deviation on clamping operations, greatly enhancing the accuracy and reliability of the device in the Y-axis direction operation, and thus effectively improving the adaptability and work efficiency of the entire SMD tray clamping device in complex working scenarios.

[0013] Optionally, the Z-axis moving assembly comprises a third sliding rail, a third sliding block is arranged on the third sliding rail, and a third driving member is connected to the third sliding block to drive the third sliding block to slide on the third sliding rail.

[0014] By adopting the above technical scheme, the combination of the third sliding rail and the third sliding block provides reliable and accurate movement guidance for the clamping device in the vertical direction (Z-axis), ensuring the stability and accuracy of Z-axis movement. The presence of the third driving member enables the third sliding block to slide accurately on the third sliding rail, and it can realize accurate vertical position adjustment according to the instructions of the control system. This is of key significance for clamping workpieces at different height positions, and can effectively cope with the height differences of workpieces in the Z-axis direction, ensuring the accuracy of clamping actions in the vertical direction, avoiding problems such as clamping failure or damage to workpieces caused by inaccurate height positioning. At the same time, this structure also helps to improve the operational flexibility and positioning accuracy of the entire device in three-dimensional space, further enhancing the adaptability of the device to diversified working scenarios, effectively ensuring the efficient and stable performance of SMD tray clamping operations, and improving the degree of automation of the production process and product quality.

[0015] Optionally, a mounting bracket is arranged on the rack, a surface lamp is arranged on the mounting bracket, and an avoidance through hole is arranged on the surface lamp.

[0016] By adopting the above technical scheme, the installation support provides a stable installation position for the surface lamp, so that it can be reasonably arranged on the rack and ensure that the lighting range covers the key operation area. The presence of the surface lamp can provide sufficient and uniform illumination for the working area of the clamping device, effectively improve the lighting conditions, especially in a relatively dark or complex working environment, which can make the workpiece features clearer, facilitate the accurate capture of workpiece image information by the alignment camera, and further improve the accuracy of positioning and the success rate of clamping. The avoidance through hole provided on the surface lamp cleverly avoids interference with the alignment camera, ensuring the smoothness and stability of the entire device during operation, ensuring the effective play of the lighting function, and not affecting the realization of the overall structure and function of the device. From multiple angles, the performance of the device is optimized, the work efficiency and quality are improved, and it is helpful to realize more reliable and efficient SMD tray clamping operation.

[0017] Optionally, the rack is provided with a plurality of illumination lamps.

[0018] By adopting the above technical scheme, the plurality of illumination lamps can provide comprehensive and sufficient illumination for the working area of the entire clamping device from different angles, effectively making up for the problem of insufficient or uneven environmental light, and ensuring that the working space is always in a good visible state. This allows the operator to clearly observe the operation of each component of the device during equipment maintenance, debugging, etc., and timely discover potential problems and handle them, improving equipment maintenance efficiency and safety. At the same time, sufficient illumination is also beneficial for the alignment camera to collect workpiece image information, which can reduce image blur, shadow and other interference factors caused by light problems, making the images obtained by the camera clearer and more accurate, thereby further improving the accuracy of the control system in judging the position and state of the workpiece, and improving the positioning accuracy and clamping success rate of the clamping device. It is a powerful guarantee for efficient and stable SMD tray clamping operation, and is helpful to improve the overall quality and efficiency of the production process.

[0019] Optionally, the receiving table is provided with a mounting plate, and the mounting plate is provided with a plurality of workpiece alignment sensors.

[0020] By adopting the technical scheme, the mounting plate provides a stable mounting basis for the workpiece-in-place sensor, ensuring that the sensor can be accurately and reliably deployed at a key position of the receiving table. The workpiece-in-place sensor can monitor in real time whether the workpiece is accurately placed at the predetermined position on the receiving table, and can quickly generate a corresponding electrical signal and transmit it to the control system when the workpiece is placed in position. This enables the control system to timely and accurately grasp the state of the workpiece, and further more reasonably plan the timing and parameters of the clamping action, effectively avoiding clamping errors such as clamping position deviation and clamping instability caused by inaccurate placement of the workpiece, and preventing damage to the workpiece or equipment caused by premature or late clamping. By improving the accuracy and reliability of the clamping operation, the working efficiency of the entire device is further improved, the time waste and resource loss caused by misoperation are reduced, and the continuity and stability of the production process are effectively ensured.

[0021] Optionally, the adjustable clamping jaw is provided with a non-slip pad.

[0022] By adopting the technical scheme, the non-slip pad can significantly increase the friction between the clamping jaw and the workpiece, effectively preventing the workpiece from slipping, displacing, or the like due to gravity, inertia, or other external forces during the clamping process, ensuring the stability and reliability of the clamping action. Especially for workpieces with smooth surfaces or irregular shapes, the non-slip pad can provide more reliable clamping force, greatly reducing the risk of damage caused by falling during handling, and improving the safety of the production process.

[0023] In summary, the present application at least has the following beneficial effects:

[0024] 1. By means of the CCD full-automatic positioning technology and the high-precision X, Y, and Z-axis moving assemblies, precise positioning of the workpiece in three-dimensional space is achieved, greatly improving the clamping accuracy, effectively reducing production errors caused by positioning deviation, significantly improving product quality, and ensuring that each workpiece can be accurately clamped and placed at the specified position, laying a good foundation for subsequent production processes.

[0025] 2. The adjustable clamping jaw can flexibly adjust the clamping range according to workpieces of different sizes, without the need for frequent replacement of clamping tools. This not only saves the time cost of tool replacement, but also reduces the downtime caused by tool replacement, thereby greatly improving the production efficiency, enabling the device to quickly adapt to clamping tasks of different specifications of the tray, and enhancing the continuity and smoothness of production. BRIEF DESCRIPTION OF DRAWINGS

[0026] Figure 1 is a structural schematic view of an SMD tray clamping device based on CCD full-automatic positioning;

[0027] Figure 2is a structural schematic view of the X-axis moving assembly, the Y-axis moving assembly and the Z-axis moving assembly;

[0028] Figure 3 is a structural schematic view of the adjustable clamping jaw;

[0029] Figure 4 is a structural schematic view of the tray.

[0030] Reference signs

[0031] 1, rack; 2, X-axis moving assembly; 21, first sliding rail; 22, first sliding block; 23, first driving member; 3, Y-axis moving assembly; 31, second sliding rail; 32, second sliding block; 33, second driving member; 4, Z-axis moving assembly; 41, third sliding rail; 42, third sliding block; 43, third driving member; 5, adjustable clamping jaw; 6, receiving table; 7, alignment camera; 8, mounting bracket; 9, surface lamp; 10, avoiding through hole; 11, illuminating lamp; 12, mounting plate; 13, workpiece alignment sensor. DETAILED DESCRIPTION

[0032] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings, and the described embodiments are only possible technical implementations of the present application, and not all possible implementations. Those skilled in the art can obtain other embodiments by combining the embodiments of the present application without creative labor, and these embodiments are also within the protection scope of the present application.

[0033] The conventional clamping device has the problem of inaccurate positioning, and often needs manual intervention for adjustment, which not only reduces the production efficiency, but also easily leads to product quality problems due to human error. Therefore, the present application mainly adopts the following scheme: a SMD tray clamping device based on CCD full-automatic positioning, comprising a rack 1, an X-axis moving assembly 2, a Y-axis moving assembly 3, a Z-axis moving assembly 4, an adjustable clamping jaw 5, a receiving table 6, an alignment camera 7 and a control system, which achieves the effects of high-precision positioning and clamping and adaptation to various specifications of trays, and the present application is further described in detail below.

[0034] Reference Figures 1-2 The SMD tray clamping device based on CCD full-automatic positioning provided by the embodiments of the present application comprises a rack 1, an X-axis moving assembly 2, a Y-axis moving assembly 3, a Z-axis moving assembly 4, an adjustable clamping jaw 5, a receiving table 6, an alignment camera 7 and a control system. The components are cooperatively worked through precise mechanical structures and electrical connections, which achieves the effects of high-precision positioning and clamping and adaptation to various specifications of trays.

[0035] Specifically, the rack 1 is the base frame of the whole device, used to fix and support various components. The rack 1 can be made of high-strength aluminum alloy material, with good rigidity and stability. The height of the rack 1 can be adjusted according to the actual use environment to adapt to different production line heights.

[0036] The X-axis moving assembly 2 includes a first sliding rail 21, a first sliding block 22, and a first driving member 23. The first sliding rail 21 is fixed on the rack 1, the first sliding block 22 slides along the first sliding rail 21, and the first driving member 23 drives the sliding of the first sliding block 22 on the first sliding rail 21. The first driving member 23 can be a stepper motor or a servo motor, which realizes precise linear motion through a precision screw nut pair. The first sliding rail 21 can adopt a ball linear guide rail, which has high carrying capacity and low friction, ensuring smooth movement in the X-axis direction.

[0037] The Y-axis moving assembly 3 includes a second sliding rail 31, a second sliding block 32, and a second driving member 33. The second sliding rail 31 is fixed on the first sliding block 22, the second sliding block 32 slides along the second sliding rail 31, and the second driving member 33 drives the sliding of the second sliding block 32 on the second sliding rail 31. The second driving member 33 can also be a stepper motor or a servo motor, which realizes precise linear motion through the same screw nut pair. The second sliding rail 31 can also adopt a ball linear guide rail to ensure smooth movement in the Y-axis direction.

[0038] The Z-axis moving assembly 4 includes a third sliding rail 41, a third sliding block 42, and a third driving member 43. The third sliding rail 41 is fixed on the second sliding block 32, the third sliding block 42 slides along the third sliding rail 41, and the third driving member 43 drives the sliding of the third sliding block 42 on the third sliding rail 41. The third driving member 43 can also be a stepper motor or a servo motor, which realizes precise linear motion through a screw nut pair. The third sliding rail 41 can adopt a ball linear guide rail to ensure smooth movement in the Z-axis direction.

[0039] The adjustable clamping jaw 5 is installed on the third sliding block 42, and the surface of the adjustable clamping jaw 5 is provided with a non-slip pad, which can be made of rubber or silicone material to increase the friction force during clamping and prevent the tray from slipping off. The opening and closing action of the adjustable clamping jaw 5 can be realized by a gas cylinder or an electric push rod, which has high response speed and accuracy. The clamping jaw can be designed to be adjustable, which can be adjusted by adjusting screws or hydraulic cylinders to adapt to different sizes of trays.

[0040] The adjustable clamp jaw 5 is provided with a special latch for insertion into the center hole of the tray. The latch is initially in a whole state and can be divided into two parts when adjustment is needed. The latch can be made of high-strength metal material to ensure sufficient stability and durability during insertion and clamping. The division of the latch and the adjustment of the distance between the two parts are achieved through a special adjustment mechanism. This adjustment mechanism can be composed of small hydraulic cylinders or electric push rods, etc. For example, if a hydraulic cylinder is used for adjustment, the movement distance of the two parts of the latch can be accurately controlled through the hydraulic system, thereby adapting to different sizes of tray center holes. The opening and closing actions of the adjustable clamp jaw 5 and the insertion and adjustment actions of the latch are usually powered by driving systems such as air cylinders, electric push rods or motors. These driving systems have high response speed and accurate control ability, which can ensure that the clamp jaw quickly and accurately performs various actions when picking up the tray. The surface 5 of the clamp jaw is provided with non-slip pads or other structures to increase friction to prevent the tray from slipping during clamping. In addition, the overall structural design of the clamp jaw should ensure sufficient stability when clamping the tray to avoid deformation or instability of the clamp jaw due to the weight of the tray or external forces.

[0041] Referring to Figures 2-4 , the rack transports the tray into the pickup range of the adjustable clamp jaw 5. During transportation, the rack should ensure the accurate position of the tray so that the adjustable clamp jaw 5 can smoothly perform the pickup operation. When the tray enters the pickup range, the adjustable clamp jaw 5, under the precise control of the control system, aligns the latch with the center hole of the tray and inserts it. The insertion action of the latch should be fast and accurate to ensure that the latch can smoothly enter the center hole of the tray without deviation or collision. After the latch is inserted into the center hole of the tray, the adjustment mechanism starts to work, dividing the latch into two parts and adjusting the distance between the two parts according to the size of the tray. The control system will accurately control the adjustment distance of the latch according to the pre-set parameters or the real-time feedback of the tray size information through the sensor to ensure that the clamp jaw can firmly clamp the tray. After clamping the tray, the adjustable clamp jaw 5, under the control of the control system, cooperates with the movement of the X-axis moving assembly 2, the Y-axis moving assembly 3 and the Z-axis moving assembly 4 to transport the tray to the designated position. During transportation, the stability of the clamp jaw and the safety of the tray should be ensured to avoid accidents such as collision or falling. After the adjustable clamp jaw 5 transports the tray to the designated position, the latch is pulled out of the center hole of the tray, and the adjustment mechanism works again to close the two parts of the latch, completing the placement operation of the tray and preparing to pick up the tray of the next cycle.

[0042] The receiving table 6 is arranged on the rack 1 and used for receiving workpieces. The surface of the receiving table 6 can be made of stainless steel material, which has good wear resistance and corrosion resistance. The receiving table 6 is provided with a mounting plate 12, and the mounting plate 12 is provided with a plurality of workpiece-to-position sensors 13 for detecting whether the workpieces are correctly placed on the receiving table 6. The workpiece-to-position sensors 13 can be photoelectric sensors or proximity switches, which have high detection accuracy and reliability.

[0043] The alignment camera 7 is arranged on the rack 1 and corresponds to the position of the receiving table 6. The alignment camera 7 can be a high-resolution CCD camera, which cooperates with a ring-shaped light source to accurately capture image information of the tray. The ring-shaped light source provides uniform and stable lighting conditions for shooting, ensuring the clarity and accuracy of the image. The alignment camera 7 can be configured with image processing software to analyze the position and attitude of the tray in real time through image recognition algorithms and generate control signals to send to the control system.

[0044] The control system takes PLC as the core, receives image data from the alignment camera 7, and accurately controls the movement of the X-axis moving assembly 2, the Y-axis moving assembly 3, the Z-axis moving assembly 4, and the clamping action of the adjustable clamping jaw 5 after algorithm processing. The control system can integrate the interfaces of multiple sensors and actuators to realize closed-loop control and ensure the stability and reliability of the entire device.

[0045] The implementation principle of the embodiment is that the alignment camera 7 acquires image information of the tray, the control system accurately calculates the position and attitude of the tray, then moves the adjustable clamping jaw 5 above the tray through the coordinated movement of the X-axis moving assembly 2, the Y-axis moving assembly 3, and the Z-axis moving assembly 4, and finally realizes the accurate clamping and placement of the tray through the clamping action of the clamping jaw. The entire process realizes high-precision positioning and automation, greatly improves production efficiency and product quality, and reduces labor intensity and production cost.

[0046] Reference Figure 1 The rack 1 is provided with a mounting bracket 8, the mounting bracket 8 is provided with a surface lamp 9, and the surface lamp 9 is provided with an avoidance through hole 10. The mounting bracket 8 is made of stainless steel material and is firmly connected to a specific position of the rack 1 through welding process. The surface lamp 9 is a high-brightness and low-heat LED panel lamp, and its light-emitting surface has uniform brightness distribution, which can provide soft and non-dazzling lighting effect. The surface lamp 9 is installed on the horizontal part of the mounting bracket 8 through screw fastening, ensuring the firmness and stability of the installation. A circular avoidance through hole 10 is accurately processed at the center position of the surface lamp 9. The diameter of the avoidance through hole 10 is slightly larger than the maximum outer diameter of the lens of the alignment camera 7, so that when the alignment camera 7 collects images, the lens can smoothly pass through the avoidance through hole 10 without any interference with the surface lamp 9.

[0047] When the device is started, the surface lamp 9 is powered on and emits light evenly on the receiving table 6 and the surrounding work area. After the SMD tray is placed on the receiving table 6, the illumination of the surface lamp 9 can clearly illuminate each part of the tray, so that the outline, identification and surface features of the tray can be presented under sufficient light. This is crucial for the alignment camera 7 to accurately capture the image information of the tray. For example, when identifying a specific code or positioning pattern on the tray, a clear image helps the control system quickly and accurately analyze the information to determine the precise position and attitude of the tray.

[0048] The rack 1 is provided with several illuminating lamps 11, preferably, two LED illuminating lamps 11 are respectively installed on the two sides of the rack 1 opposite to the receiving table 6. The installation height of these side lamps is lower than that of the surface lamp 9 installed on the top of the rack 1, which can supplement the illumination of the inside of the rack 1 and the receiving plane of the receiving table 6, and facilitate the operator to observe the running state of the equipment and perform maintenance work.

[0049] The embodiments of the specific implementation are the preferred embodiments of the present application, but do not limit the protection scope of the present application, so that: any equivalent changes made according to the structure, shape, principle of the present application should be covered within the protection scope of the present application.

Claims

1. A SMD tray clamping device based on full-automatic positioning of a CCD, characterized in that, The utility model relates to a kind of precision workpiece positioning device, including rack (1), the rack (1) is equipped with X-axis moving assembly (2), the X-axis moving assembly (2) is equipped with Y-axis moving assembly (3), the Y-axis moving assembly (3) is equipped with Z-axis moving assembly (4), the Z-axis moving assembly (4) is equipped with adjustable clamp jaw (5);The rack (1) is equipped with receiving table (6) for receiving workpiece, the rack (1) is equipped with alignment camera (7) corresponding the receiving table (6), the adjustable clamp jaw (5) and the alignment camera (7) are electrically connected with control system, the control system is based on workpiece image information processing analysis after being collected by the alignment camera (7), accurately control the clamping range of the adjustable clamp jaw (5) and the movement of X-axis moving assembly (2), Y-axis moving assembly (3) and Z-axis moving assembly (4), to realize accurate clamping and positioning placement to different size workpiece.

2. The SMD tray picking device based on CCD full-automatic positioning according to claim 1, characterized in that, The X-axis moving assembly (2) includes a first slide rail (21), the first slide rail (21) is equipped with a first sliding block (22), the first sliding block (22) is connected with a first driving part (23), the first sliding block (22) is driven to slide on the first slide rail (21) by the first driving part (23).

3. The SMD tray picking device based on CCD full-automatic positioning according to claim 1, characterized in that, The Y-axis moving assembly (3) includes a second slide rail (31), the second slide rail (31) is equipped with a second sliding block (32), the second sliding block (32) is connected with a second driving part (33), the second sliding block (32) is driven to slide on the second slide rail (31) by the second driving part (33).

4. The SMD tray picking device based on CCD full-automatic positioning according to claim 1, characterized in that, The Z-axis moving assembly (4) includes a third slide rail (41), the third slide rail (41) is equipped with a third sliding block (42), the third sliding block (42) is connected with a third driving part (43), the third sliding block (42) is driven to slide on the third slide rail (41) by the third driving part (43).

5. The SMD tray picking device based on CCD full-automatic positioning according to claim 1, characterized in that, The rack (1) is equipped with mounting bracket (8), the mounting bracket (8) is equipped with face lamp (9), the face lamp (9) is equipped with avoiding through-hole (10).

6. The SMD tray picking device based on CCD full-automatic positioning according to claim 1, characterized in that, The rack (1) is equipped with several illuminating lamps (11).

7. The SMD tray picking device based on CCD full-automatic positioning according to claim 1, characterized in that, The receiving table (6) is equipped with mounting plate (12), the mounting plate (12) is equipped with several workpiece in-place sensors (13).

8. The SMD tray picking device based on CCD full-automatic positioning according to claim 1, characterized in that, The adjustable clamp jaw (5) is equipped with antiskid pad.

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