Automatic FPC insertion device

Abstract

The invention relates to an automatic FPC insertion device, comprising a ROBOT base and a body linear rail group, a left camera group, a right camera group, a right FPC insertion group and a left FPC insertion group, the ROBOT base and the body linear rail group are installed on a six-axis manipulator, the left and right camera groups and the left and right FPC insertion groups are connected to the ROBOT base and the body linear rail group, FPC coil feeding devices are arranged at the left and right FPC insertion groups, the left camera group and the right camera group are arranged in a mirror direction and have the same structure, the left FPC insertion group and the right FPC insertion group are arranged left and right and have the same structure, the left FPC insertion group and the right FPC insertion group are both used for automatically opening a movable upper cover of a connector and inserting an FPC to a connector waiting position and then closing the movable upper cover, and automatically opening the movable upper cover of the connector and removing the FPC after the test is completed; the invention can save the overall process time, improve the work efficiency, and realize unmanned and automation.

Description

[Technical field]

[0001] The invention relates to the technical field of driving circuit boards for liquid crystal panels, in particular to an automatic FPC insertion device. [Background Technology]

[0002] At present, the existing method of inserting the FPC connector on the driving circuit board (PCB) for the liquid crystal panel is mainly to manually open the movable upper cover of the connector, hold the FPC and insert the connector to the correct position, and then close the movable upper cover. The existing manual operation method mainly has the following problems and disadvantages: this type of manual operation requires first taking the FPC, opening the upper cover on one side of the FPC connector, inserting one side of the FPC and clamping it, then closing the upper cover of the FPC connector, then opening the upper cover on the other side of the FPC connector, then inserting the other side of the FPC, clamping it, and then closing the upper cover of the FPC connector on the other side. This requires a lot of manpower and a long operation time. It is difficult to implement stably when it is difficult to recruit personnel. [Summary of the invention]

[0003] The purpose of the present invention is to solve the above-mentioned shortcomings and provide an automatic FPC insertion device, which can save the overall process time, improve work efficiency, realize unmanned and automated, and avoid the problems of manual operation consuming manpower and long operation time.

[0004] In order to achieve the above purpose, an automatic FPC insertion device is designed, including a ROBOT base and a body linear rail group 1, a left camera group 2, a right camera group 3, a right FPC insertion group 5 and a left FPC insertion group 6. The ROBOT base and the body linear rail group 1 are installed on a six-axis manipulator 7, and the ROBOT base and the body linear rail group 1 are driven and moved to various working points by the six-axis manipulator 7. The left camera group 2, the right camera group 3, the right FPC insertion group 5, and the left FPC insertion group 6 are all connected to the ROBOT base and the body linear rail group 1, and the fixed position is adjusted by the ROBOT base and the body linear rail group 1. The right FPC insertion group 5, the left An FPC coil feeding device 8 is provided at the side-inserted FPC group 6, and the FPC coil feeding device 8 is used to provide FPC for the right-inserted FPC group 5 and the left-inserted FPC group 6. The left-side camera group 2 and the right-side camera group 3 are arranged in a mirror direction and have the same structure. The left-side camera group 2 and the right-side camera group 3 are both used to take pictures and images of the products. The left-side inserted FPC group 6 and the right-side inserted FPC group 5 are arranged left and right and have the same structure. The left-side inserted FPC group 6 and the right-side inserted FPC group 5 are both used to automatically open the movable upper cover of the connector and close the movable upper cover after inserting the FPC into the connector to be locked in position, and automatically open the movable upper cover of the connector and remove the FPC after the test is completed.

[0005] Furthermore, it also includes a right displacement compensation group 4, which is connected to the ROBOT base and the main body linear rail group 1. The right camera group 3 and the right FPC plug group 5 are respectively connected to the right displacement compensation group 4, and the fixed position is adjusted by the right displacement compensation group 4.

[0006] Further, the right displacement compensation group 4 includes a CCD X-axis displacement linear stepper motor 401, a right camera group fixing seat 402, a right body slide seat group 403, a plug-in group θ-axis displacement linear stepper motor 404, a rotation group Y-axis displacement linear stepper motor 405, a rotation group Y-axis slide seat 406 and a rotation group 407. The output end of the linear stepper motor 401 for X-axis displacement is connected to the right camera group fixing seat 402, the right camera group 3 is fixed on the right camera group fixing seat 402, and the right camera group fixing seat 402 is connected to the screw rod group 106 of the ROBOT base and the main body linear rail group 1, and compensates for the X-axis position when the product matches the right side plug-in FPC group 5 under the control of the servo motor 108. The right camera group fixing seat 402 is slidably connected to the right side body slide seat group 403, and the right side body slide seat group 403 is fixed on the ROBOT base and the main body linear rail group 1. The right side body slide seat group 403 is respectively connected to the linear stepper motor 404 for θ-axis displacement of the plug-in group and the linear stepper motor 405 for Y-axis displacement of the rotation group. The linear stepper motor 404 for θ-axis displacement of the plug-in group The feed motor 404 is used to compensate for the alignment angle when the product matches with the right side FPC group 5, and the linear stepper motor 405 for Y-axis shift of the rotation group is used to compensate for the Y-axis position when the product matches with the right side FPC group 5. The bottom end of the right side body slide group 403 is connected to the rotation group Y-axis slide 406, and the bottom end of the rotation group Y-axis slide 406 is connected to the rotation group 407. The right side FPC group 5 is connected to the rotation group 407, and the rotation group Y-axis slide 406 is controlled by the linear stepper motor 404 for θ-axis shift of the plug-in group and the linear stepper motor 405 for Y-axis shift of the rotation group to move along the Y-axis. The rotation group 407 is controlled by the linear stepper motor 404 for θ-axis shift of the plug-in group and the linear stepper motor 405 for Y-axis shift of the rotation group to rotate at a small angle.

[0007] Furthermore, the FPC coil feeding device 8 includes an FPC raw material coil 801, a raw material air expansion shaft 802, a waste material air expansion shaft 803, a coil motor 804, an FPC positioning clamping claw group 805, an FPC support plate 806, a pressing wheel group 807 and a base plate 808. The waste material air expansion shaft 803 is connected to the output end of the coil motor 804, and the waste material air expansion shaft 803 is driven by the coil motor 804 to pull the FPC raw material coil 801, thereby driving the raw material air expansion shaft 802. The waste material air expansion shaft 803 is provided with an FPC support plate 806 and a pressing wheel group 807. The support plate 806 is used as a support for the FPC. The pressing wheel group 807 is pressed onto the FPC coil between the raw material gas expansion shaft 802 and the waste gas expansion shaft 803, and is used to restore the fit when the FPC coil rotates and causes the FPC to detach from the coil. The FPC support plate 806 is provided with an FPC positioning jaw group 805, and the FPC positioning jaw group 805 is used to accurately position the FPC. The raw material gas expansion shaft 802, the waste gas expansion shaft 803, the FPC positioning jaw group 805, the FPC support plate 806, and the pressing wheel group 807 are all installed on the substrate 808.

[0008] Furthermore, the ROBOT base and body linear rail group 1 include a slide rail seat 101, a motor seat 102, a slide seat 103, a connecting seat 104, a bearing seat 105, a screw group 106, a linear slide rail 107, a servo motor 108, a bearing seat 109, a coupling 110, a deep groove ball bearing 112, a linear slide rail 113, a stepper motor 114, a stepper motor seat 115 and a spring 116. The slide rail seat 101 is equipped with a connecting seat 104, a bearing seat 105 and a linear slide rail 107. The connecting seat 104 is connected to the six-axis manipulator 7. The bearing seat 105 is equipped with a deep groove ball bearing 112. The left camera group 2 is connected to the slide rail seat 101. The motor seat 102 is installed on the linear slide rail 107. A bearing seat 109 is installed on the motor seat 102, and a screw group 106 is installed on the bearing seat 109. The screw group 106 is connected to the servo motor 108 through a coupling 110. The servo motor 108 and the coupling 110 are both installed on the motor seat 102. The right camera group 3, the right displacement compensation group 4, and the right FPC group 5 are respectively connected to the screw group 106, and the fixed position is adjusted by the screw group 106; the stepper motor seat 115 is installed on the motor seat 102, and a stepper motor 114 is installed on the stepper motor seat 115. The screw at the output end of the stepper motor 114 is connected to the linear guide rail 113 through a spring 116. The linear guide rail 113 is installed on the slide seat 103 and connected to the left FPC group 6.

[0009] Furthermore, a photoelectric switch 111 is installed on the motor seat 102 of the ROBOT base and the main body linear rail group 1, and the servo motor 108 and the stepper motor 114 are electrically connected to the photoelectric switch 111 respectively. The photoelectric switch 111 is used to detect the origin and limit position of the servo motor 108 and the stepper motor 114 when they are running.

[0010] Furthermore, the left camera group 2 and the right camera group 3 both include a CCD 201, a lens 202, a light source fixing seat 203, a light source 204, a CCD fixing seat 205 and a base 206. The CCD 201 and the lens 202 are locked together and then installed on the CCD fixing seat 205. The CCD 201 and the lens 202 are used to take pictures and images of the product. The light source 204 is fixed on the light source fixing seat 203 and installed on the CCD fixing seat 205 through the light source fixing seat 203. The light source 204 is used for lighting when taking pictures. The CCD fixing seat 205 and the base 206 are locked together and connected to the ROBOT base and the main body linear rail group 1 through the base 206.

[0011] Furthermore, the CCD fixing seats 205 of the left camera group 2 and the right camera group 3 are fixedly connected with a detection seat 207, and a laser displacement sensor 208 is installed on the detection seat 207. The laser displacement sensor 208 is used to measure the distance between the camera and the product to keep the camera and the product level.

[0012] Furthermore, the left-side plug-in FPC group 6 and the right-side plug-in FPC group 5 each include a flip-close cover linear stepper motor 601, a detection seat 611, a rotating block 609, a photoelectric switch 612 and a linkage flip-close cover piece 613. The flip-close cover linear stepper motor 601 is installed on a left fixed seat 603 and a right fixed seat 610. The output end of the flip-close cover linear stepper motor 601 is connected to the rotating block 609 via a floating joint 607. The rotating block 609 is rotatably connected to the left fixed seat 603 and the right fixed seat 610 via a rotating shaft 602. Block 609 is connected with the linked cover-lifting piece 613. When the output shaft of the cover-lifting linear stepper motor 601 retracts or extends, it drives the rotating block 609 to rotate open or rotate closed, thereby driving the linked cover-lifting piece 613 to extend or retract synchronously to realize opening or closing the cover. The left fixed seat 603, the right fixed seat 610, the detection seat 611, and the photoelectric switch 612 are all fixed on the bottom plate 604. The detection seat 611 is provided with a detection piece 608. The photoelectric switch 612 and the detection piece 608 are respectively electrically connected to the cover-lifting linear stepper motor 601.

[0013] Furthermore, the left-side FPC plug-in group 6 and the right-side FPC plug-in group 5 are respectively fixed on the ROBOT base, the main body linear rail group 1 and the right displacement compensation group 4 through the bottom plate 604, and a nozzle block sealing plate 605 and an FPC nozzle block 606 are arranged at the lower front end of the bottom plate 604. The nozzle block sealing plate 605 is encapsulated on the FPC nozzle block 606. The nozzle block sealing plate 605 and the FPC nozzle block 606 are used to fit FPC connectors of various types and sizes.

[0014] Compared with the prior art, the present invention has the following advantages:

[0015] (1) The present invention can realize simultaneous operation on both sides, saving overall process time and improving work efficiency;

[0016] (2) Both side mechanisms of the present invention have position and angle compensation, which can fully absorb the error between products;

[0017] (3) The invention has a small range of action from opening the lid to closing the lid, thus saving operation time;

[0018] (4) The present invention uses visual alignment to accurately absorb product precision errors, has high repeatability, and has great switching flexibility, which is a flexible production method.

[0019] (5) The present invention does not require human operation, switching, startup, and other issues, thereby increasing the utilization rate and achieving unmanned and automated operation. [Drawings]

[0020] Figure 1 It is a schematic diagram of the manual operation structure of the prior art;

[0021] Figure 2 It is a structural schematic diagram of the present invention applied to automatic picture detection equipment;

[0022] Figure 3 It is a structural schematic diagram of the present invention and the six-axis manipulator;

[0023] Figure 4 It is a schematic diagram of the structure of the present invention;

[0024] Figure 5a It is a schematic diagram of the assembly structure of the ROBOT base and the body linear rail group of the present invention;

[0025] Figure 5b It is a three-dimensional structural schematic diagram of the ROBOT base and the body linear rail assembly of the present invention;

[0026] Figure 6a is a schematic diagram of the assembly structure of the left camera group of the present invention;

[0027] Figure 6b is a schematic diagram of the three-dimensional structure of the left camera group of the present invention;

[0028] Figure 7a is a schematic diagram of the assembly structure of the right camera group of the present invention;

[0029] Figure 7b is a schematic diagram of the three-dimensional structure of the right camera group of the present invention;

[0030] Figure 8a It is a schematic diagram of the assembly structure of the right displacement compensation group of the present invention;

[0031] Figure 8b It is a schematic diagram of the three-dimensional structure of the right displacement compensation group of the present invention;

[0032] Figure 9a It is a schematic diagram of the assembly structure of the right-side FPC plug-in group / left-side FPC plug-in group of the present invention;

[0033] Figure 9b It is a three-dimensional structural schematic diagram of the right-side inserted FPC group / left-side inserted FPC group of the present invention;

[0034] Fig.10 It is a structural schematic diagram of the FPC coil material feeding device of the present invention;

[0035] In the figure: 1, ROBOT base and body linear rail group 2, left camera group 3, right camera group 4, right displacement compensation group 5, right FPC plug group 6, left FPC plug group 7, six-axis manipulator 8, FPC coil feeding device 9, panel exchange platform 10, FPC device 11, rack 12, PCB 13, FPC 14, FPC connector 15, panel 101, slide seat 102, motor seat 103, slide seat 104, connecting seat 105, bearing seat 1 106, screw rod group 107, linear slide rail 1 108, servo motor 109, bearing seat 2 110, coupling 111, photoelectric switch 1 112, deep groove ball bearing 113, linear slide rail 2 114, stepper motor 115, stepper motor seat 116, spring 201, CCD 202, lens 203, light source fixing seat 204, light source 205, CCD fixing seat 206, base 207, detection seat 208, laser displacement sensor 401, CCD Linear stepper motor 402 for X-axis shift, right camera group fixed seat 403, right body slide group 404, linear stepper motor 405 for θ-axis shift of plug-in group, linear stepper motor 406 for Y-axis shift of rotation group, Y-axis slide 407 of rotation group, rotation group 601, linear stepper motor 602 for lifting and closing cover, rotating shaft 603, left fixed seat 604, bottom plate 605, nozzle block sealing plate 606, FPC nozzle block 607, floating joint 608, detection piece 609, rotating block 610, right fixed seat 611, detection seat two 612, photoelectric switch two 613, linked lifting cover piece 614, pressing plate 801, FPC raw material roll 802, raw material air expansion shaft 803, waste material air expansion shaft 804, coiling motor 805, FPC positioning clamping claw group 806, FPC support plate 807, pressing wheel group 808, substrate. [Specific implementation method]

[0036] The present invention is further described below in conjunction with the accompanying drawings:

[0037] The present invention is mainly used in the process of installing FPC on PCB of liquid crystal panel, and belongs to the automatic FPC device of automatic picture detection equipment, which is composed of six-axis manipulator 7, FPC coil feeding device 8, panel exchange platform 9, FPC device 10, and frame 11. Figure 2 shown.

[0038] The present invention utilizes a six-axis manipulator 7 and an FPC device 10 composed of a multi-axis servo precision slide table to perform compensation so as to smoothly insert the FPC. Figure 3 shown.

[0039] As attached Figure 4As shown, the present invention provides an automatic FPC insertion device, including a ROBOT base and a body linear rail group 1, a left camera group 2, a right camera group 3, a right FPC insertion group 5 and a left FPC insertion group 6. The ROBOT base and the body linear rail group 1 are installed on a six-axis manipulator 7, and the ROBOT base and the body linear rail group 1 are driven by the six-axis manipulator 7 and moved to various working points. The left camera group 2, the right camera group 3, the right FPC insertion group 5, and the left FPC insertion group 6 are all connected to the ROBOT base and the body linear rail group 1, and the fixed position is adjusted by the ROBOT base and the body linear rail group 1. The right FPC insertion group 5, An FPC coil feeding device 8 is provided at the left side FPC group 6, and the FPC coil feeding device 8 is used to provide FPC for the right side FPC group 5 and the left side FPC group 6. The left side camera group 2 and the right side camera group 3 are arranged in a mirror direction and have the same structure. The left side camera group 2 and the right side camera group 3 are both used to take pictures and images of the products. The left side FPC group 6 and the right side FPC group 5 are arranged left and right and have the same structure. The left side FPC group 6 and the right side FPC group 5 are both used to automatically open the movable upper cover of the connector and close the movable upper cover after inserting the FPC into the connector to be locked in position, and automatically open the movable upper cover of the connector and remove the FPC after the test is completed.

[0040] It also includes a right displacement compensation group 4, which is connected to the ROBOT base and the body linear rail group 1. The right camera group 3 and the right FPC plug group 5 are respectively connected to the right displacement compensation group 4, and the fixed position is adjusted through the right displacement compensation group 4. Figure 8a and attached Figure 8bAs shown, the right displacement compensation group 4 includes a CCD X-axis displacement linear stepper motor 401, a right camera group fixing seat 402, a right body slide seat group 403, a plug-in group θ-axis displacement linear stepper motor 404, a rotation group Y-axis displacement linear stepper motor 405, a rotation group Y-axis slide seat 406 and a rotation group 407, CCD The output end of the linear stepper motor 401 for X-axis displacement is connected to the right camera group fixing seat 402, the right camera group 3 is fixed on the right camera group fixing seat 402, and the right camera group fixing seat 402 is connected to the screw rod group 106 of the ROBOT base and the main body linear rail group 1, and under the control of the servo motor 108, the X-axis position when the product is matched with the right side plug-in FPC group 5 is compensated, the right camera group fixing seat 402 is slidably connected to the right side body slide seat group 403, the right side body slide seat group 403 is fixed on the ROBOT base and the main body linear rail group 1, the right side body slide seat group 403 is respectively connected to the linear stepper motor 404 for θ-axis displacement of the plug-in group and the linear stepper motor 405 for Y-axis displacement of the rotation group, and the linear stepper motor 406 for θ-axis displacement of the plug-in group The stepper motor 404 is used to compensate for the alignment angle when the product matches the right side FPC group 5. The linear stepper motor 405 for Y-axis shift of the rotation group is used to compensate for the Y-axis position when the product matches the right side FPC group 5. The bottom end of the right side main body slide group 403 is connected to the rotation group Y-axis slide 406. The bottom end of the rotation group Y-axis slide 406 is connected to the rotation group 407. The right side FPC group 5 is connected to the rotation group 407. The rotation group Y-axis slide 406 is controlled by the linear stepper motor 404 for θ-axis shift of the plug-in group and the linear stepper motor 405 for Y-axis shift of the rotation group to move along the Y-axis. The rotation group 407 is controlled by the linear stepper motor 404 for θ-axis shift of the plug-in group and the linear stepper motor 405 for Y-axis shift of the rotation group to rotate at a small angle.

[0041] In the right displacement compensation group 4, the functions of each part are as follows:

[0042] (1) CCD X-axis shift linear stepper motor: used for camera position switching of products of different sizes;

[0043] (2) Right camera unit fixing seat: used to fix the camera. Figure 5a and attached Figure 5b The servo motor 108 and the screw rod group 106 in FIG5 are controlled to compensate for the difference in the X-axis position when the product is matched with the right plug wire group 5;

[0044] (3) Right side body slide assembly: Fix this assembly on the ROBOT base and body linear rail assembly 1;

[0045] (4) Linear stepper motor for displacement of the θ axis of the plug-in wire group: used to compensate for the difference in the alignment angle when the product is matched with the plug-in wire group 5 on the right side;

[0046] (5) Linear stepper motor for Y-axis displacement of the rotating group: used to compensate for the difference in Y-axis position when the product is matched with the right-side plug-in group 5;

[0047] (6) Rotation group Y-axis slide: As the base of the rotation group 7, it is controlled by the linear stepper motor for the θ-axis displacement of the plug-in group and the linear stepper motor for the Y-axis displacement of the rotation group to move along the Y-axis;

[0048] (7) Rotation group: As the base of the right wiring group 5, it is controlled by the linear stepping motor for the θ-axis displacement of the wiring group and the linear stepping motor for the Y-axis displacement of the rotation group to make a small angle rotation.

[0049] As attached Fig.10 As shown, the FPC coil feeding device 8 includes an FPC raw material coil 801, a raw material air expansion shaft 802, a waste material air expansion shaft 803, a coil motor 804, an FPC positioning clamping claw group 805, an FPC support plate 806, a pressing wheel group 807 and a base plate 808. The waste material air expansion shaft 803 is connected to the output end of the coil motor 804, and the waste material air expansion shaft 803 is driven by the coil motor 804 to pull the FPC raw material coil 801, thereby driving the raw material air expansion shaft 802. The FPC support plate 806 and the pressing wheel group 807 are arranged above the waste material air expansion shaft 803. The support plate 806 is used to support the FPC. The pressing wheel group 807 is pressed onto the FPC coil between the raw material air expansion shaft 802 and the waste material air expansion shaft 803, and is used to restore the fit when the FPC coil rotates and causes the FPC to detach from the coil. An FPC positioning clamp group 805 is provided at the FPC support plate 806. The FPC positioning clamp group 805 is used to accurately position the FPC. The raw material air expansion shaft 802, the waste material air expansion shaft 803, the FPC positioning clamp group 805, the FPC support plate 806, and the pressing wheel group 807 are all installed on the base plate 808.

[0050] In the FPC coil feeding device 8, the raw material air expansion shaft 802 and the waste material air expansion shaft 803 are installed on the base plate 808, and the FPC positioning clamping claw group 805, the FPC support plate 806, and the pressing wheel group 807 are also installed on the base plate 808, and then the front row components are fixed to the attached Figure 2 On the frame 11. When working, the material coiling motor 804 drives the waste material air expansion shaft 803 to pull the FPC raw material coil 801, and then drives the raw material air expansion shaft 802. The FPC support plate 806 is used to support the FPC, and the pressing wheel group 807 is used to restore the fit when the FPC roll rotates and causes the FPC to separate from the roll. The material coiling motor 804 rolls one piece of FPC each time. The FPC positioning claw group 805 is used for accurate positioning of the FPC, and after the FPC positioning is confirmed, it is used for inserting the FPC group to take out the material.

[0051] As attached Figure 5a and attached Figure 5bAs shown, the ROBOT base and the body linear rail assembly 1 include a rail seat 101, a motor seat 102, a slide seat 103, a connecting seat 104, a bearing seat 105, a screw assembly 106, a linear rail 107, a servo motor 108, a bearing seat 2 109, a coupling 110, a deep groove ball bearing 112, a linear rail 2 113, a stepper motor 114, a stepper motor seat 115 and a spring 116; the connecting seat 104, The bearing seat 105 and the linear slide rail 107, the connecting seat 104 are connected to the six-axis manipulator 7, the bearing seat 105 is installed with a deep groove ball bearing 112, the left camera group 2 is connected to the slide rail seat 101, the linear slide rail 107 is installed with a motor seat 102, the motor seat 102 is installed with a bearing seat 2 109, the bearing seat 2 109 is installed with a screw group 106, the screw group 106 is connected to the servo motor 108 through a coupling 110, and the servo The motor 108 and the coupling 110 are both installed on the motor seat 102. The right camera group 3, the right displacement compensation group 4, and the right plug-in group 5 are respectively connected to the screw group 106, and the fixed position is adjusted by the screw group 106; the stepper motor seat 115 is installed on the motor seat 102, and the stepper motor 114 is installed on the stepper motor seat 115. The screw at the output end of the stepper motor 114 is connected to the linear guide rail 113 through the spring 116. The linear guide rail 113 is installed on the slide seat 103 and connected to the left plug-in group 6; the connecting seat 104 on the slide rail seat 101 of the ROBOT base and the main body linear guide group 1 is installed on the sixth axis at the end of the six-axis manipulator 7, and a photoelectric switch 111 is installed on the motor seat 102. The servo motor 108 and the stepper motor 114 are respectively electrically connected to the photoelectric switch 111. The photoelectric switch 111 is used to detect the origin and limit position when the servo motor 108 and the stepper motor 114 are running.

[0052] In the ROBOT base and the main body linear rail assembly 1, the rail seat 101 is combined with the connecting seat 104, the bearing seat 105, the linear rail 107, and the deep groove ball bearing 112 and connected to the six-axis manipulator. This component is used to fix and adjust the position of the left industrial camera. This component can be installed on the 6th axis at the end of the six-axis manipulator, and driven and moved to various required working points by the manipulator; the linear rail 107 is installed on the rail seat 101 as a support for the motor seat 102; the bearing seat 109 is installed on the motor seat 102, the screw rod group 106 is installed on the bearing seat 109, and the servo motor 108 is installed on the bearing seat 109. It is installed on the motor base 102 with the coupling 110, and is used to limit, adjust, and fix the positions of components such as the right camera group 3, the right displacement compensation group 4, and the right wiring group 5; the slide 103, the linear slide rail 113, the stepper motor 114 and the screw, the stepper motor base 115, the spring 116, etc. are assembled on the motor base 102, and are used for supporting and adjusting the displacement compensation of the aforementioned left wiring group 6. This component is mainly used to adjust the position relationship between the camera and the product when the product specifications change; the photoelectric switch 11 is used as the basis for the origin and limit position of the stepper motor 114 and the servo motor 108 during operation.

[0053] As attached Figure 6a , Attachment Figure 6b , Attachment Figure 7a , Attachment Figure 7b As shown, the left camera group 2 and the right camera group 3 both include CCD201, lens 202, light source fixing seat 203, light source 204, CCD fixing seat 205 and base 206. CCD201 and lens 202 are locked together and then installed on CCD fixing seat 205. CCD201 and lens 202 are used to take pictures and images of products. Light source 204 is fixed on light source fixing seat 203 and installed on CCD fixing seat 205 through light source fixing seat 203. Light source 204 is used for lighting when taking pictures. CCD fixing seat 205 and base 206 are locked as one body and connected to ROBOT base and body linear rail group 1 through base 206. CCD fixing seat 205 of left camera group 2 and right camera group 3 are both fixedly connected with detection seat 1 207, and detection seat 1 207 is installed with laser displacement sensor 208. Laser displacement sensor 208 is used to measure the distance between camera and product so as to keep the camera and product level.

[0054] In the left camera group 2, CCD201 and lens 202 are locked together and then installed on CCD fixing seat 205, which is used for taking pictures of products; light source fixing seat 203 and square light source 204 are locked together and also installed on CCD fixing seat 205, which is used for lighting when taking pictures; detection seat 1 207 and laser displacement sensor 208 are locked together and also installed on CCD fixing seat 205, which is used for measuring the distance between the camera and the product, so that the camera and the product are kept level; the above components are locked together by CCD fixing seat 205 and base 206, and then the left camera group 2 is installed as a whole on the ROBOT base and body linear track group 1. The right camera group 3 is a mirror image of the left camera group 2, and its function description is the same as above.

[0055] As attached Figure 9a and attached Figure 9b As shown, the left-side FPC plug-in group 6 and the right-side FPC plug-in group 5 both include a flip-close cover linear stepper motor 601, a detection seat 611, a rotating block 609, a photoelectric switch 612 and a linked flip-close cover piece 613. The flip-close cover linear stepper motor 601 is installed on a left fixed seat 603 and a right fixed seat 610. The output end of the flip-close cover linear stepper motor 601 is connected to the rotating block 609 through a floating joint 607. The rotating block 609 is rotatably connected to the left fixed seat 603 and the right fixed seat 610 through a rotating shaft 602. The rotating block 609 is connected to the linked flip-close cover piece 613. When the output shaft of the flip-close cover linear stepper motor 601 is retracted or extended, it drives the rotating block 609 to rotate open or rotate closed, thereby driving the linked flip-close cover piece 613 to extend synchronously. Or retract to open or close the cover, the left fixed seat 603, the right fixed seat 610, the detection seat 611, and the photoelectric switch 612 are all fixed on the bottom plate 604, the detection seat 611 is provided with a detection piece 608, the photoelectric switch 612 and the detection piece 608 are respectively electrically connected to the cover lifting and closing linear stepper motor 601; the left side FPC plug-in group 6 and the right side FPC plug-in group 5 are respectively fixed on the ROBOT base and the body linear rail group 1 and the right displacement compensation group 4 through the bottom plate 604, and the bottom front end of the bottom plate 604 is provided with a nozzle block sealing plate 605 and an FPC nozzle block 606, the nozzle block sealing plate 605 is encapsulated on the FPC nozzle block 606, and the nozzle block sealing plate 605 and the FPC nozzle block 606 are used to fit FPC connectors of various types and sizes.

[0056] The left-side FPC plug-in group 6 and the right-side FPC plug-in group 5 have the same structure and can be shared. The functions of each part are as follows: the lifting cover linear stepper 601, the floating joint 607, the detection piece 608, the rotating block 609, and the linked lifting cover piece 613 are combined on the left fixed seat 603 and the right fixed seat 610, and then the front row components are fixed on the bottom plate 604; the photoelectric switch 2 612 and the detection seat 2 611 are combined and fixed on the bottom plate 604; the nozzle block sealing plate 605 and the FPC nozzle block 606 are combined and fixed on the bottom plate 604; the above-mentioned whole group is combined and fixed on the aforementioned Figure 4 The middle ROBOT base is on the body linear rail group 1 and the right displacement compensation group 4; when in use, the shaft of the lifting cover linear stepper motor 601 retracts, causing the rotating block 609 to rotate and open, and the lifting cover piece 613 is synchronously extended. Combined with the action of the six-axis manipulator, the FPC connector cover can be opened. After the cover is fully opened, the FPC can be inserted into the FPC connector. At this time, the shaft of the lifting cover linear stepper motor 601 extends, causing the rotating block 609 to rotate and close, realizing the function of closing the cover, and using appropriate control of the servo motor torque to achieve the function of stably pressing the FPC and the connector; using a multi-axis servo slide for automatic switching production, and replacing different sizes of suction nozzle block sealing plates 605 and FPC suction nozzle blocks 606 to suit various types and sizes of FPC connectors.

[0057] When the present invention is operated, its operation steps are as follows:

[0058] (1) Move the six-axis robot and camera to the nearby Figure 2 Above the FPC coil feeding device, take a picture of the FPC, calculate the offset based on the image, and compensate the FPC suction device according to the offset;

[0059] (2) Move the six-axis robot and camera to the nearby Figure 2 Above the panel exchange platform, take the first photo at the first photo taking position of the panel product; after completion, move to the second photo taking position and take the second photo;

[0060] (3) Compare the first and second photo data with the origin value for calculation;

[0061] (4) Adjust the robot insertion line origin position compensation according to the offset between the first photo data and the origin comparison;

[0062] (5) Adjust the servo slide wire origin position compensation according to the offset between the second photo data and the origin comparison;

[0063] (6) After the point compensation is completed, the wire insertion action is executed. First, move to the cover opening position and perform the cover opening action, and then insert the FPC action; when inserting the FPC, the cover closing action must be performed at the same time to make the upper cover completely pressed on the FPC to achieve stable circuit conduction;

[0064] (7) Move the robot to the nearby Figure 2 The FPC coil feeding device is placed above the material feeding device, waiting for the next product.

[0065] The present invention is not limited to the above-mentioned embodiments, and any other changes, modifications, substitutions, combinations, and simplifications made without departing from the spirit and principles of the present invention shall be equivalent replacement methods and shall be included in the protection scope of the present invention.

Claims

1. An automatic FPC insertion device, characterized in that: The invention comprises a ROBOT base and a main body linear rail group (1), a left camera group (2), a right camera group (3), a right FPC group (5) and a left FPC group (6), wherein the ROBOT base and the main body linear rail group (1) are installed on a six-axis manipulator (7), and the ROBOT base and the main body linear rail group (1) are driven by the six-axis manipulator (7) and moved to various working points, and the left camera group (2), the right camera group (3), the right FPC group (5) and the left FPC group (6) are all connected to the ROBOT base and the main body linear rail group (1), and the fixed position is adjusted by the ROBOT base and the main body linear rail group (1), and the right FPC group (5) is moved to the working point. (5), an FPC coil feeding device (8) is provided at the left FPC insertion group (6), and the FPC coil feeding device (8) is used to provide FPC for the right FPC insertion group (5) and the left FPC insertion group (6). The left camera group (2) and the right camera group (3) are arranged in a mirrored manner and have the same structure. The left camera group (2) and the right camera group (3) are both used to take pictures of the product. The left FPC insertion group (6) and the right FPC insertion group (5) are arranged on the left and right and have the same structure. The left FPC insertion group (6) and the right FPC insertion group (5) are both used to automatically open the movable upper cover of the connector and close the movable upper cover after inserting the FPC into the connector to be locked in position. After the test is completed, the connector movable upper cover is automatically opened and the FPC is removed; the left-side FPC plug-in group (6) and the right-side FPC plug-in group (5) both include a cover-lifting linear stepping motor (601), a second detection seat (611), a rotating block (609), a second photoelectric switch (612) and a linked cover-lifting piece (613); the cover-lifting linear stepping motor (601) is installed on a left fixed seat (603) and a right fixed seat (610); the output end of the cover-lifting linear stepping motor (601) is connected to the rotating block (609) through a floating joint (607); the rotating block (609) is rotatably connected to the left fixed seat (603) and the right fixed seat (610) through a rotating shaft (602). The left fixed seat (603), the right fixed seat (610), the second detection seat (611), and the second photoelectric switch (612) are all fixed on the bottom plate (604). The second detection seat (611) is provided with a detection sheet (608). The second photoelectric switch (612) and the detection sheet (608) are respectively electrically connected to the linear stepping motor (601) for lifting and closing the cover.

2. The automatic FPC insertion device according to claim 1, characterized in that: It also includes a right displacement compensation group (4), which is connected to the ROBOT base and the body linear rail group (1), and the right camera group (3) and the right FPC plug group (5) are respectively connected to the right displacement compensation group (4), and the fixed position is adjusted by the right displacement compensation group (4).

3. The automatic FPC insertion device according to claim 2, characterized in that: The right displacement compensation group (4) comprises a CCD X-axis displacement linear stepping motor (401), a right camera group fixing seat (402), a right body slide seat group (403), a plug-in group θ-axis displacement linear stepping motor (404), a rotation group Y-axis displacement linear stepping motor (405), a rotation group Y-axis slide seat (406) and a rotation group (407); the output end of the CCD X-axis displacement linear stepping motor (401) is connected to the right camera group fixing seat (402); the right camera group (3) is fixed to the right camera group fixing seat (403). 2), and the right camera group fixing seat (402) is connected to the screw rod group (106) of the ROBOT base and the main body linear rail group (1), and under the control of the servo motor (108), the X-axis position of the product when matching with the right plug-in FPC group (5) is compensated, and the right camera group fixing seat (402) can be slidably connected to the right main body slide seat group (403), and the right main body slide seat group (403) is fixed on the ROBOT base and the main body linear rail group (1), and the right main body slide seat group (403) is respectively A linear stepper motor (404) for θ-axis displacement of the plug-in group and a linear stepper motor (405) for Y-axis displacement of the rotation group are connected. The linear stepper motor (404) for θ-axis displacement of the plug-in group is used to compensate for the alignment angle when the product matches the right-side plug-in FPC group (5). The linear stepper motor (405) for Y-axis displacement of the rotation group is used to compensate for the Y-axis position when the product matches the right-side plug-in FPC group (5). The bottom end of the right-side body slide seat group (403) is connected to the Y-axis slide seat (406) of the rotation group. The bottom end of the Y-axis slide (406) of the plug-in group is connected to the rotating group (407), and the right side plug-in FPC group (5) is connected to the rotating group (407). The Y-axis slide (406) of the rotating group is controlled by the linear stepping motor (404) for the θ-axis displacement of the plug-in group and the linear stepping motor (405) for the Y-axis displacement of the rotating group to move along the Y-axis, and the rotating group (407) is controlled by the linear stepping motor (404) for the θ-axis displacement of the plug-in group and the linear stepping motor (405) for the Y-axis displacement of the rotating group to rotate at a small angle.

4. The automatic FPC insertion device according to claim 1, 2 or 3, characterized in that: The FPC coil feeding device (8) comprises an FPC raw material coil (801), a raw material air expansion shaft (802), a waste material air expansion shaft (803), a coil motor (804), an FPC positioning clamping claw group (805), an FPC support plate (806), a pressing wheel group (807) and a base plate (808). The waste material air expansion shaft (803) is connected to the output end of the coil motor (804) and pulls the FPC raw material coil (801) under the drive of the coil motor (804), thereby driving the raw material air expansion shaft (802). An FPC support plate (806) and a pressing wheel group (807) are arranged above the waste material air expansion shaft (803). The PC support plate (806) is used as a support for the FPC. The pressing wheel group (807) is pressed onto the FPC coil between the raw material gas expansion shaft (802) and the waste material gas expansion shaft (803), and is used to restore the fit when the FPC coil rotates and causes the FPC to detach from the coil. The FPC support plate (806) is provided with an FPC positioning jaw group (805), and the FPC positioning jaw group (805) is used to accurately position the FPC. The raw material gas expansion shaft (802), the waste material gas expansion shaft (803), the FPC positioning jaw group (805), the FPC support plate (806), and the pressing wheel group (807) are all installed on a base plate (808).

5. The automatic FPC insertion device according to claim 2 or 3, characterized in that: The ROBOT base and body linear rail assembly (1) comprises a rail seat (101), a motor seat (102), a slide seat (103), a connecting seat (104), a bearing seat 1 (105), a screw rod assembly (106), a linear rail 1 (107), a servo motor (108), a bearing seat 2 (109), a coupling (110), a deep groove ball bearing (112), a linear rail 2 (113), a stepper motor (114), a stepper motor seat (1 15) and a spring (116), the slide rail seat (101) is equipped with a connecting seat (104), a bearing seat 1 (105) and a linear slide rail 1 (107), the connecting seat (104) is connected to the six-axis manipulator (7), the bearing seat 1 (105) is equipped with a deep groove ball bearing (112), the left camera group (2) is connected to the slide rail seat (101), and the linear slide rail 1 (107) is equipped with a motor seat (102), The motor seat (102) is mounted with a bearing seat 2 (109), the bearing seat 2 (109) is mounted with a screw rod group (106), the screw rod group (106) is connected to a servo motor (108) via a coupling (110), the servo motor (108) and the coupling (110) are both mounted on the motor seat (102), the right camera group (3), the right displacement compensation group (4), and the right FPC plug group (5) are respectively connected to the screw rod group (106). 6) and the fixed position is adjusted by the screw rod group (106); the stepper motor seat (115) is installed on the motor seat (102), the stepper motor (114) is installed on the stepper motor seat (115), the screw rod at the output end of the stepper motor (114) is connected to the linear guide rail 2 (113) through a spring (116), the linear guide rail 2 (113) is installed on the slide seat (103), and is connected to the left side plug FPC group (6).

6. The automatic FPC insertion device according to claim 5, characterized in that: A photoelectric switch (111) is installed on the motor seat (102) of the ROBOT base and the body linear rail group (1); the servo motor (108) and the stepper motor (114) are electrically connected to the photoelectric switch (111) respectively; the photoelectric switch (111) is used to detect the origin and limit position of the servo motor (108) and the stepper motor (114) when they are running.

7. The automatic FPC insertion device according to claim 2 or 3, characterized in that: The left camera group (2) and the right camera group (3) both comprise a CCD (201), a lens (202), a light source fixing seat (203), a light source (204), a CCD fixing seat (205) and a base (206); the CCD (201) and the lens (202) are fixed together and then installed on the CCD fixing seat (205); the CCD (201) and the lens (202) are used to take pictures of the product; the light source (204) is fixed on the light source fixing seat (203) and installed on the CCD fixing seat (205) through the light source fixing seat (203); the light source (204) is used for lighting when taking pictures; the CCD fixing seat (205) and the base (206) are fixed together and connected to the ROBOT base and the body linear rail group (1) through the base (206).

8. The automatic FPC insertion device according to claim 7, characterized in that: The CCD fixing seats (205) of the left camera group (2) and the right camera group (3) are fixedly connected to a detection seat 1 (207), and a laser displacement sensor (208) is installed on the detection seat 1 (207). The laser displacement sensor (208) is used to measure the distance between the camera and the product so as to keep the camera and the product level.

9. The automatic FPC insertion device according to claim 1, characterized in that: The left-side plug-in FPC group (6) and the right-side plug-in FPC group (5) are respectively fixed to the ROBOT base and the body linear rail group (1) and the right displacement compensation group (4) through the bottom plate (604); a nozzle block sealing plate (605) and an FPC nozzle block (606) are arranged below the front end of the bottom plate (604); the nozzle block sealing plate (605) is encapsulated on the FPC nozzle block (606); the nozzle block sealing plate (605) and the FPC nozzle block (606) are used to fit FPC connectors of various types and sizes.

Images