Manipulator execution end and method capable of automatically straightening FPC

Abstract

The invention discloses a mechanical arm execution end and method capable of automatically straightening an FPC, and belongs to the technical field of mechanical arms, the mechanical arm execution end comprises a power module and a suction nozzle module which are arranged on a base at the tail end of a mechanical arm, and further comprises a clamping jaw module arranged on the base; the power output end of the power module is connected with the suction nozzle module and the clamping jaw module, and the power module is used for driving the suction nozzle module to do lifting motion and driving a left clamping jaw and a right clamping jaw in the clamping jaw module to be opened and close; when the left clamping jaw and the right clamping jaw are close to each other and are in a holding state, the FPC is limited in a gap between the left clamping jaw and the right clamping jaw in the holding state, so that the FPC is straightened by the left clamping jaw and the right clamping jaw when the FPC descends along with the suction nozzle module during material discharging and ascends along with the suction nozzle module during material taking; therefore, the FPC does not deflect in the process of taking and placing the touch key, and the FPC can smoothly penetrate into the through hole without being damaged.

Description

Technical Field

[0001] The invention belongs to the technical field of manipulators, and in particular relates to a manipulator execution end and a method capable of automatically straightening an FPC. Background Art

[0002] Touch button automation test involves the process of picking up and placing materials, refer to Figure 1 and Figure 2 When unloading, the robot needs to place the touch button on the Holder module (also known as the support module) for sealing and other tests. When taking the material, the robot needs to take away the touch button that has been tested on the Holder module. More specifically, during the touch button automation test, there is a section of FPC (Flexible Printed Circuit) on the touch button that serves as a connection. The upper end of the FPC (equivalent to the root of the FPC) is connected to the touch button, and the lower end (equivalent to the head of the FPC) is suspended, similar to a hanging streamer. When unloading, it is necessary to first align the lower end of the FPC on the touch button with a very small through hole on the Holder module (the diameter of the through hole is generally only 1~3mm larger than the width of the FPC), and then the robot execution end controls the FPC to slowly descend and penetrate the through hole. After the FPC penetrates the through hole, the touch button is just accommodated in the groove of the Holder module. At this time, the unloading is completed and the touch button can be tested for sealing and other tests.

[0003] Currently, the industry uses a robot with a nozzle module mechanism to automatically pick up and place touch buttons. However, the current nozzle module mechanism cannot control the shape of the FPC when picking up and placing the touch buttons. This makes the FPC shape unstable when picking up and placing the touch buttons, and there will be bending and deformation. As a result, when automatically picking up and placing the touch buttons, it is easy to cause the FPC to bend and damage, and the FPC perforation fails, which in turn leads to material picking and placing failure. Summary of the invention

[0004] In view of this, the present invention provides a robot execution end and method that can automatically straighten the FPC, which can automatically straighten the FPC so that the FPC will not sway during the process of picking up and releasing materials by touching the key, ensuring that the FPC can be smoothly inserted into the through hole without damaging the FPC.

[0005] The present invention provides a manipulator execution end capable of automatically straightening FPC, which adopts the following technical solution: A manipulator execution end capable of automatically straightening an FPC comprises a power module and a nozzle module arranged on a base at the end of the manipulator, and also comprises a clamping claw module arranged on the base; The power output end of the power module is connected to the nozzle module and the clamping claw module, and is used to drive the nozzle module to move up and down and drive the left clamping claw and the right clamping claw in the clamping claw module to open and close; When the left clamp and the right clamp are close to each other and in a holding state, the FPC limit is located between the gap between the left clamp and the right clamp in the holding state, so that the FPC is straightened by the left clamp and the right clamp when the suction nozzle module descends during material discharge and when the suction nozzle module rises during material collection.

[0006] Furthermore, the nozzle module and the clamping jaw module each use a power module.

[0007] Furthermore, the nozzle module and the clamping jaw module share one power module.

[0008] Furthermore, the clamping jaw module and the nozzle module are stacked on the base to jointly complete the material discharge and material extraction of a touch button; The clamping claw module is an inner layer close to the base, and the suction nozzle module is an outer layer.

[0009] Further, the clamping jaw module includes a push plate, a top plate, a push block, a first stop block group, a top plate lug, a clamping jaw push rod, a power plate, a vertical guide rail, a fixed block group, a second stop block group, a cam, a right slider, a right limit rod, a left slider, a right spring, a left clamping jaw, a right clamping jaw, a transverse guide rail, a connecting rod, a lug on the power plate, a first spring group, a power output end, a lower lug of the push rod, a lug of the push block, a lug in the power plate, an inclined push plate, an inclined surface, and a second spring group; The vertical guide rail is fixedly mounted on the base; The push plate is slidably matched with the vertical guide rail, and the upper end of the push plate is fixedly connected to the power output end of the power module through a connecting plate; The top plate is slidably matched with the vertical guide rail, and a top plate lug is fixedly provided at the lower end of the top plate; The pushing block is fixedly connected to the pushing plate; a pushing block lug is fixedly provided on the pushing block; The first spring group is compressed and pre-tightened and clamped between the top plate and the lug of the push block; The first stop block group is fixedly mounted on the base, and the first stop block group can collide with the top plate lug to limit the upward movement of the top plate; The upper end of the clamping jaw push rod is fixedly connected to the top plate; the lower end of the clamping jaw push rod is fixedly provided with a push rod lower lug; The power plate is slidably matched with the vertical guide rail, the upper end of the power plate is fixedly provided with a power plate upper lug, and the middle end of the power plate is fixedly provided with a power plate middle lug; the lower lug of the push rod can pull the lug on the power plate upwards; The fixed block group is fixedly mounted on the base, and the fixed block group is located above the lug in the power plate, and the fixed block group can collide with the lug in the power plate, and the fixed block group is used to limit the upward movement of the power plate; The second stop block group is fixedly mounted on the base, and the second stop block group is located below the lug in the power plate, and the second stop block group can collide with the lug in the power plate, and the second stop block group is used to limit the downward movement of the power plate; The second spring group is compressed and pre-tightened and clamped between the lug in the power plate and the fixed block group; One end of the connecting rod is hinged to the power plate, and the other end of the connecting rod is hinged to the left slider; The transverse guide rail is fixedly mounted on the base, and the left slider and the right slider are both slidably matched with the transverse guide rail; The left clamping jaw is fixedly mounted on the left sliding block; The right clamp is fixedly mounted on the right slider; The right limiting rod is fixedly mounted on the base; The right spring is clamped between the right slider and the right limiting rod; The cam is mounted on the right slider; The inclined push plate is fixedly mounted on the lower end of the power plate, and a slope is arranged on the right side of the inclined push plate; When the power plate descends, the inclined push plate presses the cam to the right to make the right slider slide to the right along the transverse guide rail, and drive the right clamping jaw to move to the right and compress the right spring, and the left slider slides to the left along the transverse guide rail, and drives the left clamping jaw to move to the left, and the left clamping jaw and the right clamping jaw open; In the initial state, the first stop block group abuts against the top plate lug, the push block lug compresses the first spring group and abuts against the top plate, the push rod lower lug pulls the power plate lug upward, the power plate middle lug compresses the second spring group and abuts against the fixed block group, the left clamping jaw and the right clamping jaw approach each other and are spaced a set distance apart, in a holding state; In the working state, when the power module drives the push block to move downward a set distance L1, the push block contacts the top of the clamping jaw push rod; when the push block continues to move downward a set distance L2, the clamping jaw push rod moves downward a set distance L2, and the power plate also moves downward a set distance L2 under the elastic force of the second spring group, and at this time the lug in the power plate collides with the second stop block group, and the left clamping jaw and the right clamping jaw are in an open state.

[0010] Further, the nozzle module includes a nozzle left slider, a nozzle right slider, a connecting block, a nozzle vertical left guide rail, a nozzle vertical right guide rail, a nozzle push rod, a first limit rod group, a pull block upper lug, a nozzle push rod lug, a tension spring, a pull block, a second limit rod group, a limit screw, a nozzle mounting block, a positioning rod, a nozzle, and a nozzle spring group; The left slider of the suction nozzle is slidably matched with the vertical left guide rail of the suction nozzle; The right slider of the suction nozzle is slidably matched with the vertical right guide rail of the suction nozzle; The suction nozzle vertical left guide rail and the suction nozzle vertical right guide rail are symmetrically fixedly installed on the base; The connecting block is fixedly connected to the left nozzle slider and the right nozzle slider; and the connecting block is fixedly connected to the power output end of the power module through the connecting plate; The upper end of the nozzle push rod is fixedly connected to the connecting block; The pull block is slidably matched with the vertical left guide rail of the suction nozzle and the vertical right guide rail of the suction nozzle. The upper end of the pull block is fixedly provided with the upper lug of the pull block, and the suction nozzle push rod lug provided at the lower end of the suction nozzle push rod can pull the upper lug of the pull block; The nozzle mounting block is located below the pull block, and the nozzle mounting block is slidably matched with the nozzle vertical left guide rail and the nozzle vertical right guide rail; The upper end of the tension spring is fixedly connected to the pull block, and the lower end of the tension spring is fixedly connected to the nozzle mounting block; The first limit rod group is located above the pull block, and the first limit rod group can collide with the pull block to limit the upward movement of the pull block; The second limit rod group is located below the pull block, and the second limit rod group can collide with the pull block to limit the downward movement of the pull block; The suction nozzle spring group is compressed and pre-tightened and clamped between the first limiting rod group and the pulling block; after the suction nozzle push rod lug releases the lug on the pulling block, the suction nozzle spring group can push the pulling block downward by elastic force until the pulling block collides with the second limiting rod group; The nozzle push rod lug can pull the pull block upper lug, so that the pull block upper lug fits with the first limit rod assembly; The limit screw is fixedly mounted on the nozzle mounting block, and the nozzle is fixedly mounted on the bottom end of the nozzle mounting block; The positioning rod is fixedly mounted on the base, and the positioning rod can collide with the limit screw provided on the nozzle mounting block, and the positioning rod is used to limit the downward position of the nozzle mounting block; The nozzle push rod can push the nozzle mounting block to slide downward until the limit screw collides with the positioning rod; when the nozzle push rod pushes the nozzle mounting block to slide downward, the tension spring is stretched; In the initial state, the nozzle push rod lug pulls the pull block upper lug, so that the pull block upper lug fits with the first limit rod assembly; In the working state, when the nozzle push rod moves downward by L1, the nozzle push rod lug separates from the lug on the pull block, and the pull block moves downward by L1 together with the nozzle mounting block and the tension spring under the elastic force of the nozzle spring group, and at this time the pull block collides with the second limit rod group; when the nozzle push rod continues to move downward by L2, the bottom end of the nozzle push rod moves to contact the nozzle mounting block; when the nozzle push rod continues to move downward by L3, the nozzle push rod pushes the nozzle mounting block to move downward by L3, and the tension spring is stretched, and the bottom end of the limit screw collides with the positioning rod.

[0011] Furthermore, the power module is a cylinder.

[0012] Furthermore, the clamping claw module and the nozzle module stacking structure are symmetrically arranged on the left and right sides of the base, so that the robot execution end can complete the placing and picking of materials from the two touch buttons at the same time.

[0013] The present invention provides a method capable of automatically straightening an FPC, using the above-mentioned manipulator execution end capable of automatically straightening an FPC, comprising: During material discharge: the manipulator drives the manipulator execution end to drop the set distance as a whole, so that the FPC head on the touch button enters the through hole of the support module, and the power module drives the power output end to move downward L1, thereby pushing the nozzle push rod to move downward L1, so that the pull block moves downward L1 together with the nozzle mounting block and the tension spring under the elastic force of the nozzle spring group, so that the L1 length between the FPC head and the root is to enter the through hole on the support module when the left clamp and the right clamp are in a protective state; then the power module drives the dynamic module downward The force output end continues to move downward L2, so that the left clamp and the right clamp are opened, and the bottom end of the nozzle push rod moves to contact the nozzle mounting block; then the power module drives the power output end downward to continue to move downward L3, so that the nozzle push rod pushes the nozzle mounting block to move downward L3, so that the bottom end of the limit screw collides with the positioning rod, the tension spring is stretched, the suction vacuum of the nozzle is disconnected and air is blown to place the touch button in the groove of the support module, and the last section of the FPC close to the root also enters the through hole of the support module, completing the discharge action; When picking up materials: the manipulator drives the manipulator execution end to descend as a whole, so that after the suction nozzle contacts the touch button, the touch button is sucked by vacuum, and the power module drives the power output end to move upward, driving the suction nozzle push rod to rise until the pulling block collides with the first limit rod group and stops, and the suction nozzle module returns to the initial state. At the same time, the clamping jaw push rod moves upward until the lug in the power plate collides with the fixed block group, and the pushing block lug compresses the first spring group and collides with the top plate, and the clamping jaw module also returns to the initial state.

[0014] Beneficial effects: 1. The robot execution end that can automatically straighten the FPC is provided with a clamping claw module, which can straighten the FPC when placing and picking up materials, so that the FPC will not deflect during the process of touching the key to pick up and place the materials, ensuring that the FPC can be smoothly inserted into the through hole without damaging the FPC.

[0015] 2. The nozzle module and the clamping jaw module use a power module respectively, so that the nozzle module and the clamping jaw module can be controlled separately, so that the nozzle module and the clamping jaw module can perform corresponding actions at the set time. At this time, the structural correlation between the nozzle module and the clamping jaw module is relatively small, and there is no need to consider too much mutual coordination between the two structures, and the structural design will be simpler.

[0016] 3. The nozzle module and the gripper module share a power module. At this time, the number of power modules is small, the overall structure will be more compact, and the mechanism action can be completed in a limited space.

[0017] 4. The nozzle module and the gripper module are stacked to make the robot structure more compact.

[0018] 5. The clamping claw module and the nozzle module stacking structure are symmetrically arranged on the left and right sides of the base, so that the robot execution end can complete the material placement and material collection of two touch buttons at the same time, thereby improving the material collection and placement efficiency.

[0019] 6. The power module can be an electric push rod, hydraulic cylinder, linear motor, cylinder, pneumatic slide, etc., with a variety of choices. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 A schematic diagram of the three-dimensional structure of the support module provided by the present invention; Figure 2 A top view of the support module provided by the present invention; Figure 3 A schematic diagram of the three-dimensional structure of a manipulator execution end capable of automatically straightening an FPC provided by the present invention; Figure 4 A side view of a manipulator execution end capable of automatically straightening an FPC provided by the present invention; Figure 5 A schematic diagram of the structure after the outer nozzle module is separated from the base provided by the present invention; Figure 6 A schematic diagram of the initial state structure of a clamping claw module in a manipulator execution end capable of automatically straightening an FPC provided by the present invention; Figure 7 for Figure 6 A schematic diagram of the connection relationship between the first spring group, the push block, the push plate, the connecting plate, the power output end, and the vertical guide rail; Figure 8 A schematic diagram of the connection relationship between the top plate and the first stop block group in the clamping jaw module provided by the present invention; Fig. 9 for Figure 8 Schematic diagram of the installation relationship between the middle push block and the push plate; Fig.10 for Figure 6 Schematic diagram of the connection relationship between the power plate, the fixed block group, the inclined push plate, the lower lug of the push rod, and the second spring group in the middle clamping jaw module; Fig.11 for Figure 6 A schematic diagram of the connection relationship between the second stop block group, the power plate, the second spring group, and the fixed block group; Fig.12 for Figure 6 Schematic diagram of the connection relationship between the middle connecting rod, the left clamping jaw, the right clamping jaw, the power plate, the left slider and the right slider; Fig.13 for Fig.12 Exploded diagram of the middle connecting rod; Fig.14 for Fig.12 Explosion diagram of the left clamp, right clamp, left extension and right extension; Fig.15 A schematic diagram of the initial state structure of the nozzle module provided by the present invention; Fig.16 for Fig.15 Schematic diagram of the connection relationship between the middle nozzle push rod, the connecting plate, the nozzle vertical left guide rail, and the nozzle vertical right guide rail; Fig.17 for Fig.15 Schematic diagram of the connection relationship between the upper lug of the middle pull block, the pull block, the lug of the nozzle push rod, the first limit rod group, the second limit rod group, the vertical left guide rail of the nozzle, and the vertical right guide rail of the nozzle; Fig.18 for Fig.15 Schematic diagram of the connection relationship between the middle nozzle mounting block, the tension spring, the nozzle vertical left guide rail, and the nozzle vertical right guide rail; Fig.19 A schematic diagram of the state when the pull block collides with the second limit rod group in the working state of the nozzle module provided by the present invention; Fig. 20 A schematic diagram of the state when the bottom end of the nozzle push rod of the nozzle module provided by the present invention contacts the protrusion on the nozzle mounting block in the working state; Fig.21 A schematic diagram of the state of the nozzle module provided by the present invention when the limit screw collides with the positioning rod in the working state; in: 1-support module, 101-groove, 102-through hole; 2-claw module, 201-push plate, 202-top plate, 203-push block, 204-first stop block group, 205-top plate lug, 206-claw push rod, 207-power plate, 208-vertical guide rail, 209-fixed block group, 210-second stop block group, 211-cam, 212-right slider, 213-right limit rod, 214-left slider, 215-right spring, 216-left clamping jaw, 217-right clamping jaw, 218-lateral guide rail, 219-connecting rod, 220-upper lug on power plate, 221-first spring group, 222-power output end, 223-lower lug of push rod, 224-pushing block lug, 225-middle lug of power plate, 226-inclined push plate, 227-inclined surface, 228-second spring group, 229-left extension piece, 230-right extension piece; 3-nozzle module, 301-nozzle left slider, 302-nozzle right slider, 303-connecting block, 304-nozzle vertical left guide rail, 305-nozzle vertical right guide rail, 306-nozzle push rod, 307-first limit rod group, 308-pull block upper lug, 309-nozzle push rod lug, 310-tension spring, 311-pull block, 312-second limit rod group, 313-limiting screw, 314-nozzle mounting block, 315-positioning rod, 316-nozzle, 317-left mounting seat, 318-right mounting seat; 319-nozzle spring group; 320-bump; 4- cylinder, 5- base, 6- connecting plate. DETAILED DESCRIPTION

[0021] The present invention is described in detail below with reference to the accompanying drawings and embodiments.

[0022] Embodiment 1: In this embodiment, Figure 1 and Figure 2 The support module 1 in FIG. 1 shows two through holes 102 , which is determined by the raised structure of the touch button itself. There is only one FPC on the touch button, and the FPC only needs to pass through the left through hole 102 on the support module 1 .

[0023] Reference Figure 1 to Figure 21A manipulator actuator capable of automatically straightening an FPC comprises a power module and a nozzle module 3 arranged on a manipulator end base 5, and also comprises a clamping claw module 2 arranged on the base 5, wherein: The power output end 222 of the power module is connected to the nozzle module 3 and the clamping jaw module 2, and is used to drive the nozzle module 3 to move up and down and drive the left clamping jaw 216 and the right clamping jaw 217 in the clamping jaw module 2 to open and close; When the left clamp 216 and the right clamp 217 are close to each other and in a holding state, the FPC is limited to the gap between the left clamp 216 and the right clamp 217 in the holding state, so that the FPC is straightened by the left clamp 216 and the right clamp 217 when the suction nozzle module 3 descends during material discharge and when the suction nozzle module 3 rises during material collection.

[0024] In this way, the robot execution end that can automatically straighten the FPC is provided with a clamping claw module 2 compared to the traditional robot with a suction nozzle module 3 mechanism. The clamping claw module 2 can straighten the FPC when placing and picking up materials, so that the FPC will not sway during the process of touching the button to pick up and place the materials, ensuring that the FPC can be smoothly inserted into the through hole without damaging the FPC.

[0025] It can be understood that the nozzle module 3 is used to absorb the touch button to lift and lower the touch button, which is very easy to achieve for those skilled in the art and is widely used in the prior art. Moreover, the clamping jaw module 2 needs to realize that the left clamping jaw 216 and the right clamping jaw 217 are close to form a protective state to straighten the FPC. This is also very easy to achieve for those skilled in the art and is widely used in the prior art. Taking the clamping jaw module 2 as an example, for example, the left clamping jaw 216 and the right clamping jaw 217 can be controlled by a motor to open and approach at a set time, and maintain the open state and the protective state for a set time period, so as to cooperate with the nozzle module 3 to complete the automatic straightening of the FPC in the touch button discharge and material collection process.

[0026] The power module needs to output linear motion, so the power module can be a combination of a motor and a screw, the screw is connected to the motor output shaft, and the power output end 222 can be a screw nut that cooperates with the screw, so that the rotational motion of the motor output shaft can be converted into the linear motion of the screw nut, thereby driving the nozzle module 3 and the clamping jaw module 2 to move. It is understandable that the power module can also be an electric push rod, a hydraulic cylinder, a linear motor, a cylinder 4, a pneumatic slide, etc.

[0027] The nozzle module 3 and the jaw module 2 can use a power module respectively, so that the nozzle module 3 and the jaw module 2 can be controlled individually, so that the nozzle module 3 and the jaw module 2 can perform corresponding actions at the set time. At this time, the structural correlation between the nozzle module 3 and the jaw module 2 is relatively small, and there is no need to consider too much mutual coordination structure between the two, and the structural design will be simpler.

[0028] The nozzle module 3 and the clamping jaw module 2 may also share a power module. In this case, the number of power modules is small, the overall structure is more compact, and the mechanism action can be completed in a limited space. The following example takes the nozzle module 3 and the clamping jaw module 2 sharing a power module, and the cylinder 4 as the power module, and the piston rod of the cylinder 4 as the power output end 222 as an example, and gives an example of a structure of the clamping jaw module 2 and the nozzle module 3, and at this time, the clamping jaw module 2 and the nozzle module 3 are stacked on the base 5 (when the nozzle module 3 and the clamping jaw module 2 each use a power module, this stacking arrangement can also be used), refer to Figure 3 , Figure 5 The clamping claw module 2 is the inner layer close to the base 5, and the nozzle module 3 is the outer layer, which together complete the material discharge and material collection of a touch button. The details are as follows: Reference Figure 3 , Figure 5-Figure 14 , the structure of the clamping jaw module 2 is as follows: The clamping jaw module 2 includes a push plate 201, a top plate 202, a push block 203, a first stop block group 204, a top plate lug 205, a clamping jaw push rod 206, a power plate 207, a vertical guide rail 208, a fixed block group 209, a second stop block group 210, a cam 211, a right slider 212, a right limit rod 213, a left slider 214, a right spring 215, a left clamping jaw 216, a right clamping jaw 217, a transverse guide rail 218, a connecting rod 219, a lug 220 on the power plate, a first spring group 221, a power output end 222, a push rod lower lug 223, a push block lug 224, a power plate middle lug 225, an inclined push plate 226, an inclined surface 227, and a second spring group 228, wherein: The vertical guide rail 208 is fixedly mounted on the base 5; The push plate 201 is slidably matched with the vertical guide rail 208, and the upper end of the push plate 201 is fixedly connected to the power output end 222 of the power module through the connecting plate 6; The top plate 202 is slidably matched with the vertical guide rail 208, and a top plate lug 205 is fixedly provided at the lower end of the top plate 202; The push block 203 is fixedly connected to the push plate 201; a push block lug 224 is fixedly provided on the push block 203; The first spring group 221 is compressed and pre-tightened and clamped between the top plate 202 and the push block lug 224; The first stop block group 204 is fixedly mounted on the base 5, and the first stop block group 204 can collide with the top plate lug 205 to limit the upward movement of the top plate 202; The upper end of the clamping jaw push rod 206 is fixedly connected to the top plate 202; the lower end of the clamping jaw push rod 206 is fixedly provided with a push rod lower lug 223; The power plate 207 is slidably matched with the vertical guide rail 208. The upper end of the power plate 207 is fixedly provided with a power plate upper lug 220, and the middle end of the power plate 207 is fixedly provided with a power plate middle lug 225; the lower lug 223 of the push rod can pull the lug 220 on the power plate upwards; The fixed block group 209 is fixedly mounted on the base 5, and the fixed block group 209 is located above the lug 225 in the power plate. The fixed block group 209 can collide with the lug 225 in the power plate. The fixed block group 209 is used to limit the upward movement of the power plate 207; The second stop block group 210 is fixedly mounted on the base 5, and the second stop block group 210 is located below the lug 225 in the power plate, and the second stop block group 210 can collide with the lug 225 in the power plate, and the second stop block group 210 is used to limit the downward movement of the power plate 207; The second spring group 228 is compressed and pre-tightened and clamped between the lug 225 in the power plate and the fixed block group 209; One end of the connecting rod 219 is hinged to the power plate 207, and the other end of the connecting rod 219 is hinged to the left slider 214; The transverse guide rail 218 is fixedly mounted on the base 5, and the left slider 214 and the right slider 212 are both slidably matched with the transverse guide rail 218; The left clamping jaw 216 is fixedly mounted on the left slider 214 through the left extension piece 229; the right clamping jaw 217 is fixedly mounted on the right slider 212 through the right extension piece 230; the right limit rod 213 is fixedly mounted on the base 5; the right spring 215 is sandwiched between the right slider 212 and the right limit rod 213; the cam 211 is mounted on the right slider 212; the inclined push plate 226 is fixedly mounted on the lower end of the power plate 207, and a slope 227 is provided on the right side of the inclined push plate 226; When the power plate 207 descends, the oblique push plate 226 presses the cam 211 to the right, causing the right slider 212 to slide to the right along the transverse guide rail 218, and drives the right clamping jaw 217 to move to the right and compress the right spring 215, and the left slider 214 slides to the left along the transverse guide rail 218, and drives the left clamping jaw 216 to move to the left, and the left clamping jaw 216 and the right clamping jaw 217 are opened; Reference Figure 6In the initial state, the first stop block group 204 abuts against the top plate lug 205, the push block lug 224 compresses the first spring group 221 and abuts against the top plate 202, the push rod lower lug 223 pulls the power plate upper lug 220 upward, the power plate middle lug 225 compresses the second spring group 228 and abuts against the fixed block group 209, the left clamping jaw 216 and the right clamping jaw 217 are close to each other and separated by a set distance (or called a gap, the gap allows the FPC to pass), at this time the left clamping jaw 216 and the right clamping jaw 217 are in a protective state, and when the FPC rises and falls with the suction nozzle module 3, the FPC can be straightened by the left clamping jaw 216 and the right clamping jaw 217; When the push block 203 is in the working state, the push block 203 contacts the top of the jaw push rod 206, and the left jaw 216 and the right jaw 217 do not move; when the push block 203 continues to move downward by the set distance L2, the jaw push rod 206 is pushed to move downward by the set distance L2, and the lower lug 223 of the push rod releases the pulling force on the lug 220 on the power plate, so that the power plate 207 also moves downward by the set distance L2 under the elastic force of the second spring group 228, and at this time, the lug 225 in the power plate collides with the second stop block group 210, and the left slider 214 slides to the left along the transverse guide rail through the action of the connecting rod 219, and the inclined push plate 226 squeezes the cam 211 through the inclined surface 227, so that the right slider 212 slides to the right along the transverse guide rail 218 and squeezes the right spring 215, and the left jaw 216 and the right jaw 217 are in an open state.

[0029] The structure of the nozzle module 3 is as follows: Reference Figure 3 , Figure 5 , Figure 15-Figure 21 The nozzle module 3 includes a nozzle left slider 301, a nozzle right slider 302, a connecting block 303, a nozzle vertical left guide rail 304, a nozzle vertical right guide rail 305, a nozzle push rod 306, a first limit rod group 307, a pull block upper lug 308, a nozzle push rod lug 309, a tension spring 310, a pull block 311, a second limit rod group 312, a limit screw 313, a nozzle mounting block 314, a positioning rod 315, a nozzle 316, and a nozzle spring group 319, wherein: The left slider 301 of the nozzle is slidably matched with the vertical left guide rail 304 of the nozzle; the right slider 302 of the nozzle is slidably matched with the vertical right guide rail 305 of the nozzle; the vertical left guide rail 304 of the nozzle is fixedly mounted on the base 5 through the left mounting seat 317, and the vertical right guide rail 305 of the nozzle is symmetrically fixedly mounted on the base 5 through the right mounting seat 318; The connecting block 303 is fixedly connected to the left nozzle slider 301 and the right nozzle slider 302; and the connecting block 303 is fixedly connected to the power output end 222 of the power module through the connecting plate 6; The upper end of the nozzle push rod 306 is fixedly connected to the connecting block 303; The pull block 311 is slidably matched with the nozzle vertical left guide rail 304 and the nozzle vertical right guide rail 305. The upper end of the pull block 311 is fixed with a pull block upper lug 308, and the nozzle push rod lug 309 provided at the lower end of the nozzle push rod 306 can pull the pull block upper lug 308; The nozzle mounting block 314 is located below the pull block 311, and the nozzle mounting block 314 is slidably matched with the nozzle vertical left guide rail 304 and the nozzle vertical right guide rail 305; The upper end of the tension spring 310 is fixedly connected to the pull block 311, and the lower end of the tension spring 310 is fixedly connected to the nozzle mounting block 314; The first limiting rod group 307 is located above the pull block 311. The first limiting rod group 307 can collide with the pull block 311 to limit the upward movement of the pull block 311. The second limiting rod group 312 is located below the pull block 311. The second limiting rod group 312 can collide with the pull block 311 to limit the downward movement of the pull block 311. The nozzle spring assembly 319 is compressed and pre-tightened and clamped between the first limiting rod assembly 307 and the pull block 311; after the nozzle push rod lug 309 releases the pull block upper lug 308, the nozzle spring assembly 319 can push the pull block 311 downward by elastic force until the pull block 311 collides with the second limiting rod assembly 312; The nozzle push rod lug 309 can pull the pull block upper lug 308, so that the pull block upper lug 308 fits with the first limit rod set 307; The limit screw 313 is fixedly mounted on the nozzle mounting block 314 through the protrusion 320, and the nozzle 316 is fixedly mounted on the bottom end of the nozzle mounting block 314; The positioning rod 315 is fixedly mounted on the base 5. The positioning rod 315 can collide with the limit screw 313. The positioning rod 315 is used to limit the downward movement of the limit screw 313. The nozzle push rod 306 can push the nozzle mounting block 314 to slide downward by contacting the protrusion 320 until the limit screw 313 collides with the positioning rod 315; when the nozzle push rod 306 pushes the nozzle mounting block 314 to slide downward, the tension spring 310 is stretched; Reference Fig.15 In the initial state, the nozzle push rod lug 309 pulls the pull block upper lug 308, so that the pull block upper lug 308 fits with the first limit rod group 307; When the suction nozzle push rod 306 moves downward by L1 through the connecting plate 6, the suction nozzle push rod lug 309 separates from the lug 308 on the pull block, and the pull block 311 moves downward by L1 together with the suction nozzle mounting block 314 and the tension spring 310 under the elastic force of the suction nozzle spring group 319, and at this time, the pull block 311 collides with the second limit rod group 312; when the suction nozzle push rod 306 continues to move downward by L2, the bottom end of the suction nozzle push rod 306 moves to contact the protrusion 320 on the suction nozzle mounting block 314; when the suction nozzle push rod 306 continues to move downward by L3, the suction nozzle push rod 306 pushes the protrusion 320 on the suction nozzle mounting block 314 downward to push the suction nozzle mounting block 314 to move downward by L3, and the tension spring 310 is stretched, and the bottom end of the limit screw 313 collides with the positioning rod 315.

[0030] Moreover, refer to Figure 3 , Figure 5 The base 5 has a symmetrically arranged laminated structure of a clamping claw module 2 and a suction nozzle module 3 on both sides, so that the manipulator execution end can simultaneously complete the discharge and collection of materials by two touch buttons, thereby improving the efficiency of material collection and discharge.

[0031] Embodiment 2: Based on the first embodiment, a method for automatically straightening an FPC is provided, comprising: During material discharge: the manipulator drives the manipulator execution end to drop the set distance as a whole, so that the FPC head on the touch button enters the through hole 102 of the support module 1, and the power module drives the power output end 222 to move downward L1, thereby pushing the nozzle push rod 306 to move downward L1, so that the pull block 311 moves downward L1 together with the nozzle mounting block 314 and the tension spring 310 under the elastic force of the nozzle spring group 319, so that the L1 length between the FPC head and the root is in the state of the left clamping jaw 216 and the right clamping jaw 217 in a protective state to enter the through hole 102 on the support module 1; then the power module drives the power output end 222 downward 2 continues to move downward L2, so that the left clamping jaw 216 and the right clamping jaw 217 are opened, so that the bottom end of the nozzle push rod 306 moves to contact the nozzle mounting block 314; then the power module drives the power output end 222 downward to continue to move downward L3, so that the nozzle push rod 306 pushes the nozzle mounting block 314 to move downward L3, so that the bottom end of the limit screw 313 collides with the positioning rod 315, the tension spring 310 is stretched, the suction vacuum of the nozzle 316 is disconnected and the air is blown to place the touch button in the groove 101 of the support module 1, and at this time, the last section of the FPC close to the root also enters the through hole 102 of the support module 1, and the material discharge action is completed; When picking up materials: the manipulator drives the manipulator execution end to descend as a whole, so that the suction nozzle 316 contacts the touch button, and then vacuum sucks the touch button. The power module drives the power output end 222 to move in the opposite direction to the material discharge action, that is, the power output end 222 moves upward, driving the suction nozzle push rod 306 to rise until the pulling block 311 collides with the first limit rod group 307 and stops, and the suction nozzle module 3 returns to the initial state. At the same time, the clamping jaw push rod 206 moves upward until the lug 225 in the power plate collides with the fixed block group 209, and the pushing block lug 224 compresses the first spring group 221 and collides with the top plate 202, and the clamping jaw module 2 also returns to the initial state.

[0032] As an example: When unloading: the manipulator drives the manipulator execution end to drop the first section as a whole, so that a small section of the FPC head enters the hole, and the piston rod of the cylinder 4 extends, pushing the nozzle push rod 306 to drop 5.7mm, and the pull block 311 is pushed down by the nozzle spring group 319. Since the pull block 311 and the nozzle mounting block 314 are connected by the tension spring 310, the nozzle mounting block 314 drives the nozzle 316 to drop until the pull block 311 collides with the second limit rod group 312 and is limited, so that the touch button drops 5.7mm. At this time, 2 / 3 of the length of the FPC penetrates into the hole. Since the clamping claw module 2 and the nozzle module 3 use the same power, the piston rod of the cylinder 4 extends downward by 5.7mm and also pushes the push plate 201 to move downward. However, the left clamping claw 216 and the right clamping claw 217 are not allowed to move at this time, and they need to maintain the protection state (in order to protect the FPC and make it easier for the PC to penetrate the through hole 1 02), although the push plate 201 is moving downward at this time, there is a gap between the push block 203 and the top of the clamp push rod 206, and there is a compressed first spring group 221 between the top plate 202 and the push block lug 224, so the top plate 202 can be supported and stopped by the first spring group 221, and the push block 203 will not push the clamp push rod 206 (the push block 203 just touches the top of the clamp push rod 206 after moving downward 5.7mm), so that the left clamp 216 and the right clamp 217 maintain the initial holding state during the process of the power output end 222 falling 5.7mm. When the power output end 222 just falls 5.7mm, the pull block 311 is stopped by the second limit rod group 312, and the nozzle push rod lug 309 is separated from the pull block upper lug 308, so that the nozzle 316 is stationary at this height (the touch button will also be stationary at this height); the power output end 222 falls 5.After 7mm, that is, after 2 / 3 of the length of the FPC has penetrated into the hole, the left clamping jaw 216 and the right clamping jaw 217 need to be opened to avoid interference between the left clamping jaw 216 and the right clamping jaw 217 on the suction nozzle 316 when the touch button is finally placed. Therefore, the cylinder 4 continues to descend until the lug 225 in the power plate collides with the second stop block group 210. In this process, the push plate 201 pushes the clamping jaw push rod 206 to move downward. Since there is a downward elastic force of the second spring group 228 between the fixed block 209 and the lug 225 in the power plate, when the clamping jaw push rod 206 descends, the power plate 207 will also descend, so that the power plate 207 moves the left slider 214 to the left along the transverse guide rail through the connecting rod 219, and then the left clamping jaw 216 opens to the left. At the same time, the inclined surface 227 of the inclined push plate 226 on the power plate 207 will squeeze the right slider 212 to the right through the squeezing cam 211 and squeeze the right Spring 215, then right clamp 217 opens to the right side, thus completing the opening action of left clamp 216 and right clamp 217. In the process of opening left clamp 216 and right clamp 217, the bottom end of nozzle push rod 306 moves toward convex block 320 all the time. When left clamp 216 and right clamp 217 are fully opened, the bottom end of nozzle push rod 306 just touches convex block 320. After left clamp 216 and right clamp 217 are opened, when power output end 222 continues to descend, nozzle push rod 306 pushes nozzle mounting block 314 downward, thereby making nozzle 316 downward (touch button also downward). When limit screw 313 stops on positioning rod 315, touch button is placed in designated groove 101. Finally, after suction vacuum of nozzle 316 is disconnected, air is blown to place touch button firmly in groove 101. Manipulator drives nozzle module 3 to rise and leave, completing material discharge action. Material picking action: the manipulator drives the manipulator execution end to descend as a whole, so that the suction nozzle 316 contacts the touch button on the support module, and the suction nozzle 316 sucks the touch button by vacuum, and the power output end 222 drives the suction nozzle push rod 306 to rise, and the suction nozzle mounting block 314 moves upward under the action of the tension spring 310 until the suction nozzle mounting block 314 contacts the pull block 311 and stops (at this time, the pull block 311 is supported by the suction nozzle spring group 320 and pressed on the second limit rod group 312), so that the touch button is stationary at the set height, (at this time, the left clamping jaw 216 and the right clamping jaw 217 are at the height of the FPC root, the FPC root is reinforced with steel sheets and will not deflect, and the left clamping jaw 216 and the right clamping jaw 217 are more likely to move closer to each other to protect the FPC). The jaw push rod 206 on the module 2 contacts the lug 220 on the power plate (at this time, the power plate 207 is still supported by the second spring group 228, and the lug 225 in the power plate contacts the second stop block group 210). When the power output end 222 continues to rise to make the suction nozzle push rod 306 continue to rise, the lug 223 under the push rod pulls the lug 220 on the power plate and drives the power plate 207 to compress the second spring group 228 upward. The rising linkage connecting rod 219 of the power plate 207 makes the left jaw 216 move to the right along the transverse guide rail 218. At the same time, the rising of the power plate 207 releases the squeezing of the cam 211 by the inclined surface 227 on the inclined push plate 226, thereby making the right slider 212 move to the left along the transverse guide rail 218 under the action of the right spring 215 ( Figure 3 The positive movement along the X-axis is the movement to the left, and the negative movement along the X-axis is the movement to the right), thereby completing the movement of the left clamping jaw 216 and the right clamping jaw 217 approaching each other. When the power plate 207 rises to the point where the lug 225 in the power plate collides with the fixed block 209, the top plate lug 205 collides with the first stop block group 204, so that the left clamping jaw 216 and the right clamping jaw 217 reach the initial holding state, and keep still after holding the FPC. At this time, the nozzle push rod 306 on the nozzle module 2 contacts the lug 308 on the pull block. Under the power of the power output end 222 continuing to move upward, the push block 203 separates from the top of the clamping jaw push rod 206, and the left clamping jaw 216 and the right clamping jaw 2 17 maintains the protecting state, and the pushing block 203 compresses the first spring group 221 upward until the pushing block lug 224 collides with the top plate 202, and the suction nozzle push rod 306 pulls the pulling block 311 to move upward, and at the same time drives the suction nozzle 316 to move upward along with the suction nozzle mounting block 314 through the tension spring 310, thereby moving the touch button upward, completing the action of straightening the FPC, the clamping claw module 2 and the suction nozzle module 3 return to the initial state, the power module stops working, and finally the manipulator rises to move the touch button to the next station. This method is used to automatically pick up and put materials for the touch button, realize the full automation of production, more reliably transport the touch button, and improve production efficiency.

[0033] It can be seen that when unloading: the robot execution end drops as a whole to make the first section of FPC pass through the hole 102 → the suction nozzle 316 drops to make the second section of FPC pass through the hole 102 (the clamp remains in a protective state) → the clamp opens (the touch button remains stationary at a set height) → the suction nozzle 316 drops to put the touch button into the groove 101 (the clamp remains in an open state) → the vacuum is disconnected, the vacuum is broken → the suction nozzle 316 is lifted. When picking up materials: the suction nozzle 316 drops → the vacuum is opened → the suction nozzle 316 rises to the first section → the clamp holds the FPC (the suction nozzle 316 remains stationary at a set height) → the suction nozzle 316 rises to straighten the FPC → the suction nozzle 316 rises. By designing the suction nozzle module 3 and the clamping jaw module 2, the touch button is linked to be picked up and placed, and the touch button is automatically picked up and placed, which solves the problem that the FPC is damaged during the pick-up and placement process due to the swing of the FPC during use, resulting in the failure of picking up and placing materials. Through the linkage between the clamping jaw module 2 and the nozzle module 3, one power is used to complete the entire mechanism action, so that each action can be controlled accurately by the mechanism, making the mechanism movement more accurate and stable. In addition, the method of using the clamping jaw to protect the FPC can confine the FPC in a safe space even if the FPC is in a bent shape, and the FPC can be effectively inserted into the through hole 102. At the same time, the clamping jaw can be made of anti-static non-metallic material, which effectively avoids damage to the FPC due to problems with the material of the clamping jaw itself.

[0034] In summary, the above are only preferred embodiments of the present invention and are not intended to limit the protection scope of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A robot actuator capable of automatically straightening an FPC, comprising a power module and a nozzle module (3) arranged on a robot end base (5), characterized in that: It also includes a clamping claw module (2) arranged on the base (5); The power output end (222) of the power module is connected to the nozzle module (3) and the clamping claw module (2) and is used to drive the nozzle module (3) to perform lifting movement and to drive the left clamping claw (216) and the right clamping claw (217) in the clamping claw module (2) to open and close; When the left clamp (216) and the right clamp (217) are close to each other in a protective state, the FPC is limited to a gap between the left clamp (216) and the right clamp (217) in the protective state, so that when the FPC is discharged, it descends with the suction nozzle module (3) and when the FPC is taken out, it is straightened by the left clamp (216) and the right clamp (217) when it rises with the suction nozzle module (3).

2. According to claim 1, a manipulator actuator capable of automatically straightening FPC, characterized in that: The suction nozzle module (3) and the clamping claw module (2) respectively use a power module.

3. According to claim 1, a manipulator actuator capable of automatically straightening FPC, characterized in that: The suction nozzle module (3) and the clamping jaw module (2) share the same power module.

4. A manipulator actuator capable of automatically straightening FPC according to claim 3, characterized in that: The clamping claw module (2) and the suction nozzle module (3) are stacked on the base (5) to jointly complete the material discharge and material extraction at the touch of a button; The clamping jaw module (2) is an inner layer close to the base (5), and the suction nozzle module (3) is an outer layer.

5. A robot actuator capable of automatically straightening FPC according to claim 4, characterized in that: The clamping jaw module (2) comprises a pushing plate (201), a top plate (202), a pushing block (203), a first stop block group (204), a top plate lug (205), a clamping jaw push rod (206), a power plate (207), a vertical guide rail (208), a fixed block group (209), a second stop block group (210), a cam (211), a right slider (212), a right limit rod (213), a left slider (214), a right spring (215), a left clamping jaw (216), a right clamping jaw (217), a transverse guide rail (218), a connecting rod (219), a lug on the power plate (220), a first spring group (221), a power output end (222), a push rod lower lug (223), a push block lug (224), a power plate middle lug (225), an inclined push plate (226), an inclined surface (227), and a second spring group (228); The vertical guide rail (208) is fixedly mounted on the base (5); The push plate (201) is slidably matched with the vertical guide rail (208), and the upper end of the push plate (201) is fixedly connected to the power output end (222) of the power module via a connecting plate (6); The top plate (202) is slidably matched with the vertical guide rail (208), and a top plate lug (205) is fixedly provided at the lower end of the top plate (202); The pushing block (203) is fixedly connected to the pushing plate (201); a pushing block lug (224) is fixedly provided on the pushing block (203); The first spring group (221) is compressed and pre-tightened and clamped between the top plate (202) and the push block lug (224); The first stop block group (204) is fixedly mounted on the base (5), and the first stop block group (204) can collide with the top plate lug (205) to limit the upward movement of the top plate (202); The upper end of the clamping jaw push rod (206) is fixedly connected to the top plate (202); the lower end of the clamping jaw push rod (206) is fixedly provided with a push rod lower lug (223); The power plate (207) is slidably matched with the vertical guide rail (208); the upper end of the power plate (207) is fixedly provided with a power plate upper lug (220); the middle end of the power plate (207) is fixedly provided with a power plate middle lug (225); the push rod lower lug (223) is capable of pulling the power plate upper lug (220) upwards; The fixed block group (209) is fixedly mounted on the base (5), and the fixed block group (209) is located above the lug (225) in the power plate, the fixed block group (209) can collide with the lug (225) in the power plate, and the fixed block group (209) is used to limit the upward movement of the power plate (207); The second stop block group (210) is fixedly mounted on the base (5), and the second stop block group (210) is located below the lug (225) in the power plate, the second stop block group (210) can collide with the lug (225) in the power plate, and the second stop block group (210) is used to limit the downward movement of the power plate (207); The second spring group (228) is compressed and pre-tightened and clamped between the lug (225) in the power plate and the fixing block group (209); One end of the connecting rod (219) is hinged to the power plate (207), and the other end of the connecting rod (219) is hinged to the left sliding block (214); The transverse guide rail (218) is fixedly mounted on the base (5), and the left slider (214) and the right slider (212) are both slidably matched with the transverse guide rail (218); The left clamping jaw (216) is fixedly mounted on the left sliding block (214); The right clamping jaw (217) is fixedly mounted on the right sliding block (212); The right limiting rod (213) is fixedly mounted on the base (5); The right spring (215) is sandwiched between the right sliding block (212) and the right limiting rod (213); The cam (211) is mounted on the right slider (212); The inclined push plate (226) is fixedly mounted on the lower end of the power plate (207), and a slope (227) is provided on the right side of the inclined push plate (226); When the power plate (207) descends, the inclined push plate (226) presses the cam (211) to the right, causing the right slider (212) to slide to the right along the transverse guide rail (218), and drives the right clamping jaw (217) to move to the right and compress the right spring (215); the left slider (214) slides to the left along the transverse guide rail (218), and drives the left clamping jaw (216) to move to the left, and the left clamping jaw (216) and the right clamping jaw (217) open; In the initial state, the first stop block group (204) abuts against the top plate lug (205), the push block lug (224) compresses the first spring group (221) and abuts against the top plate (202), the push rod lower lug (223) pulls the power plate upper lug (220) upwards, the power plate middle lug (225) compresses the second spring group (228) and abuts against the fixed block group (209), and the left clamping jaw (216) and the right clamping jaw (217) are close to each other and spaced a set distance apart, in a protective state; In the working state, when the power module drives the push block (203) to move downward a set distance L1, the push block (203) contacts the top of the clamping jaw push rod (206); when the push block (203) continues to move downward a set distance L2, the clamping jaw push rod (206) moves downward a set distance L2, and the power plate (207) also moves downward a set distance L2 under the elastic force of the second spring group (228), and at this time, the lug (225) in the power plate collides with the second stop block group (210), and the left clamping jaw (216) and the right clamping jaw (217) are in an open state.

6. A robot actuator capable of automatically straightening FPC according to claim 5, characterized in that: The nozzle module (3) comprises a nozzle left slider (301), a nozzle right slider (302), a connecting block (303), a nozzle vertical left guide rail (304), a nozzle vertical right guide rail (305), a nozzle push rod (306), a first limit rod group (307), a pull block upper lug (308), a nozzle push rod lug (309), a tension spring (310), a pull block (311), a second limit rod group (312), a limit screw (313), a nozzle mounting block (314), a positioning rod (315), a nozzle (316), and a nozzle spring group (319); The suction nozzle left slider (301) is slidably matched with the suction nozzle vertical left guide rail (304); The suction nozzle right slider (302) is slidably matched with the suction nozzle vertical right guide rail (305); The suction nozzle vertical left guide rail (304) and the suction nozzle vertical right guide rail (305) are symmetrically fixedly mounted on the base (5); The connection block (303) is fixedly connected to the suction nozzle left slider (301) and the suction nozzle right slider (302); and the connection block (303) is fixedly connected to the power output end (222) of the power module via the connection plate (6); The upper end of the nozzle push rod (306) is fixedly connected to the connecting block (303); The pull block (311) is slidably matched with the suction nozzle vertical left guide rail (304) and the suction nozzle vertical right guide rail (305); the upper end of the pull block (311) is fixedly provided with the pull block upper lug (308); and the suction nozzle push rod lug (309) provided at the lower end of the suction nozzle push rod (306) is capable of pulling the pull block upper lug (308); The suction nozzle mounting block (314) is located below the pulling block (311), and the suction nozzle mounting block (314) is slidably matched with the suction nozzle vertical left guide rail (304) and the suction nozzle vertical right guide rail (305); The upper end of the tension spring (310) is fixedly connected to the pulling block (311), and the lower end of the tension spring (310) is fixedly connected to the suction nozzle mounting block (314); The first limiting rod group (307) is located above the pulling block (311), and the first limiting rod group (307) can collide with the pulling block (311) to limit the upward movement of the pulling block (311); The second limiting rod group (312) is located below the pulling block (311), and the second limiting rod group (312) can collide with the pulling block (311) to limit the downward movement of the pulling block (311); The suction nozzle spring group (319) is compressed and pre-tightened and clamped between the first limiting rod group (307) and the pull block (311); after the suction nozzle push rod lug (309) releases the lug (308) on the pull block, the suction nozzle spring group (319) can push the pull block (311) downward by elastic force until the pull block (311) collides with the second limiting rod group (312); The nozzle push rod lug (309) is capable of pulling the pull block upper lug (308) so that the pull block upper lug (308) fits with the first limit rod group (307); The limiting screw (313) is fixedly mounted on the suction nozzle mounting block (314), and the suction nozzle (316) is fixedly mounted on the bottom end of the suction nozzle mounting block (314); The positioning rod (315) is fixedly mounted on the base (5), the positioning rod (315) can collide with the limiting screw (313) provided on the suction nozzle mounting block (314), and the positioning rod (315) is used to limit the downward movement of the suction nozzle mounting block (314); The nozzle push rod (306) can push the nozzle mounting block (314) to slide downward until the limit screw (313) collides with the positioning rod (315); when the nozzle push rod (306) pushes the nozzle mounting block (314) to slide downward, the tension spring (310) is stretched; In the initial state, the nozzle push rod lug (309) pulls the pull block upper lug (308) so that the pull block upper lug (308) fits with the first limit rod group (307); In the working state, when the nozzle push rod (306) moves downward by L1, the nozzle push rod lug (309) separates from the lug (308) on the pull block, and the pull block (311) moves downward by L1 together with the nozzle mounting block (314) and the tension spring (310) under the elastic force of the nozzle spring group (319), and at this time, the pull block (311) collides with the second limit rod group (312); when the nozzle push rod (306) continues to move downward by L2, the bottom end of the nozzle push rod (306) moves to contact with the nozzle mounting block (314); when the nozzle push rod (306) continues to move downward by L3, the nozzle push rod (306) pushes the nozzle mounting block (314) to move downward by L3, and causes the tension spring (310) to be stretched, and the bottom end of the limit screw (313) collides with the positioning rod (315).

7. A manipulator actuator capable of automatically straightening an FPC according to any one of claims 1 to 6, characterized in that: The power module is a cylinder (4).

8. A manipulator actuator capable of automatically straightening an FPC according to any one of claims 4 to 6, characterized in that: The clamping claw module (2) and the suction nozzle module (3) are symmetrically arranged in a stacked structure on the left and right sides of the base (5), so that the robot execution end can simultaneously complete the discharge and extraction of materials from the two touch buttons.

9. A method for automatically straightening an FPC, characterized in that: A robot actuator capable of automatically straightening an FPC as described in claim 6, comprising: When unloading: the manipulator drives the manipulator execution end to descend as a whole by a set distance, so that the FPC head on the touch button enters the through hole (102) of the support module (1), and then the power module drives the power output end (222) to move downward by L1, thereby pushing the suction nozzle push rod (306) to move downward by L1, so that the pull block (311) moves downward by L1 together with the suction nozzle mounting block (314) and the tension spring (310) under the elastic force of the suction nozzle spring group (319), so that the L1 length between the FPC head and the root is when the left clamp (216) and the right clamp (217) are in a protective state and enter the through hole (102) on the support module (1); then the power module drives the power output end (222) downward to continue Continue to move downward L2, so that the left clamping jaw (216) and the right clamping jaw (217) open, so that the bottom end of the suction nozzle push rod (306) moves to contact the suction nozzle mounting block (314); then the power module drives the power output end (222) downward to continue to move downward L3, so that the suction nozzle push rod (306) pushes the suction nozzle mounting block (314) to move downward L3, so that the bottom end of the limit screw (313) collides with the positioning rod (315), the tension spring (310) is stretched, the suction nozzle (316) disconnects the vacuum and blows air to place the touch button in the groove (101) of the support module (1), and the last section of the FPC close to the root also enters the through hole (102) of the support module (1), completing the material discharge action; When picking up materials: the manipulator drives the manipulator execution end to descend as a whole, so that the suction nozzle (316) contacts the touch button and then vacuum sucks the touch button, and the power module drives the power output end (222) to move upward, driving the suction nozzle push rod (306) to rise until the pull block (311) collides with the first limit rod group (307) and stops, and the suction nozzle module (3) returns to the initial state. At the same time, the clamping claw push rod (206) moves upward until the lug (225) in the power plate collides with the fixed block group (209), and the pushing block lug (224) compresses the first spring group (221) and collides with the top plate (202), and the clamping claw module (2) also returns to the initial state.

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