Assembly deviation correction method and device of flexible circuit board, terminal equipment and storage medium

Abstract

The invention discloses an assembly deviation correction method and device of a flexible circuit board, terminal equipment and a computer storage medium, and relates to the technical field of electronic equipment, and the assembly deviation correction method of the flexible circuit board determines the male and female contact state of the flexible circuit board according to the position of the flexible circuit board; and performing alignment assembly deviation correction processing on the flexible circuit board according to the contact state of the male head and the female head so as to enable the flexible circuit board to complete press-fit assembly under the condition that the male head and the female head are aligned. According to the invention, when the alignment assembly of the FPC is carried out through machinery instead of manual work so as to improve the assembly efficiency, the assembly quality of the FPC is effectively ensured to be qualified through the assembly deviation correction treatment carried out on the FPC.

Description

Technical Field

[0001] The present application relates to the technical field of electronic equipment, and in particular to a method, device, terminal equipment and computer storage medium for assembling a flexible circuit board. Background Art

[0002] With the rise of the concept of the metaverse, the market demand for VR (Virtual Reality) devices has also risen. In the production and manufacturing process of VR devices, the assembly of FPC (Flexible Printed Circuit) is crucial.

[0003] Nowadays, most FPCs on VR device motherboards are assembled manually. However, with the increasingly lightweight consumer electronics and the richer functions of VR devices, the FPCs on VR device motherboards are not only increasing, but also getting smaller. This has led to an increase in the difficulty of assembling FPCs in VR devices. As a result, the traditional method of manually assembling FPCs can no longer meet the assembly requirements of FPCs in VR devices due to the defects of difficulty in quantification and inability to ensure assembly quality.

[0004] Therefore, how to improve the assembly efficiency of FPC on the VR device motherboard and ensure the assembly quality of FPC is a technical problem that needs to be urgently solved in the industry. Summary of the invention

[0005] The main purpose of the present application is to provide a method, device, terminal equipment and computer storage medium for assembly correction of a flexible circuit board, aiming to improve the assembly efficiency of the FPC on the mainboard of a VR device while ensuring the quality of assembly of the FPC.

[0006] To achieve the above object, the present application provides a method for assembling and correcting a flexible circuit board, and the method for assembling and correcting a flexible circuit board comprises the following steps:

[0007] Determining the contact state of the male and female connectors of the flexible circuit board according to the position of the flexible circuit board;

[0008] The flexible circuit board is subjected to alignment, assembly and deviation correction processing according to the contact state of the male and female heads, so that the flexible circuit board can be pressed and assembled with the male and female heads aligned.

[0009] Optionally, the step of determining the contact state of the male and female connectors of the flexible circuit board according to the position of the flexible circuit board includes:

[0010] Determine whether the male connector on the flexible circuit board reaches the plane where the female connector of the flexible circuit board is located;

[0011] If yes, controlling the flexible circuit board to rotate to obtain the force control data of the male and female heads of the flexible circuit board;

[0012] The contact state of the male and female heads of the flexible circuit board is determined according to the male and female head force control data.

[0013] Optionally, the male and female contact states include: no deviation state, unidirectional deviation state and bidirectional deviation state;

[0014] The step of determining the contact state of the male and female heads of the flexible circuit board according to the male and female head force control data comprises:

[0015] If the male and female head force control data does not change during the process of controlling the rotation of the flexible circuit board, determining that the male and female head contact state of the flexible circuit board is the no-deviation state;

[0016] If the male and female head force control data changes during the process of controlling the flexible circuit board to rotate around the first central axis or the second central axis, determining that the male and female head contact state of the flexible circuit board is the unidirectional deviation state;

[0017] If the male and female head force control data changes in the process of controlling the flexible circuit board to rotate around the first central axis and the second central axis, it is determined that the male and female head contact state of the flexible circuit board is the bidirectional deviation state.

[0018] Optionally, the step of performing alignment and assembly correction processing on the flexible circuit board according to the contact state of the male and female connectors includes:

[0019] When it is determined that the contact state of the male and female heads is the unidirectional deviation state, calculating the offset distance of the flexible circuit board according to the male and female head force control data;

[0020] The flexible circuit board is controlled to move according to the offset distance so as to perform alignment, assembly and deviation correction processing on the flexible circuit board.

[0021] Optionally, the step of performing alignment and assembly correction processing on the flexible circuit board according to the contact state of the male and female connectors further includes:

[0022] When it is determined that the contact state of the male and female heads is the bidirectional deviation state, a correction process is performed on the flexible circuit board in a single direction so that the contact state of the male and female heads of the flexible circuit board is the unidirectional deviation state;

[0023] When the contact state of the male and female heads is the unidirectional deviation state, the step of calculating the offset distance of the flexible circuit board according to the male and female head force control data and the step of controlling the movement of the flexible circuit board according to the offset distance to perform alignment, assembly and deviation correction processing on the flexible circuit board are executed.

[0024] Optionally, the step of performing alignment and assembly correction processing on the flexible circuit board according to the contact state of the male and female connectors includes:

[0025] When it is determined that the contact state of the male and female heads is the non-deviation state, the posture of the male head of the flexible circuit board is controlled to remain within a preset posture range to perform alignment, assembly and deviation correction processing on the flexible circuit board, wherein the posture range is determined based on the maximum blocking angle of the male and female heads of the flexible circuit board.

[0026] Optionally, the method further comprises:

[0027] Determining the force sense control range of the flexible circuit board according to the male and female head sizes of the flexible circuit board and preset adjustable parameters;

[0028] The step of determining the contact state of the male and female heads of the flexible circuit board according to the position of the flexible circuit board and the step of performing alignment, assembly and deviation correction processing on the flexible circuit board according to the contact state of the male and female heads are performed according to the force control action range.

[0029] In addition, to achieve the above-mentioned purpose, the present application also provides another assembly and correction device for a flexible circuit board, and the assembly and correction device for a flexible circuit board comprises:

[0030] A contact state determination module, used to determine the contact state of the male and female connectors of the flexible circuit board according to the position of the flexible circuit board;

[0031] The assembly correction module is used to perform alignment and assembly correction processing on the flexible circuit board according to the contact state of the male and female heads, so that the flexible circuit board can complete the press-fit assembly when the male and female heads are aligned.

[0032] Optionally, each functional module of the assembly deviation correction device for a flexible circuit board implements the steps of each flexible circuit board assembly deviation correction method as described above during operation.

[0033] In addition, to achieve the above-mentioned purpose, the present application also provides a terminal device, which includes: a memory, a processor, and an assembly correction program for a flexible circuit board stored in the memory and runnable on the processor, and when the assembly correction program for the flexible circuit board is executed by the processor, the steps of the assembly correction method for the flexible circuit board as described above are implemented.

[0034] In addition, to achieve the above-mentioned purpose, the present application also provides a computer storage medium, on which a flexible circuit board assembly correction program is stored. When the flexible circuit board assembly correction program is executed by a processor, the steps of the flexible circuit board assembly correction method as described above are implemented.

[0035] The embodiments of the present application provide a flexible circuit board assembly correction method, device, terminal device and computer storage medium. The flexible circuit board assembly correction method determines the contact state of the male and female heads of the flexible circuit board according to the position of the flexible circuit board; and performs alignment assembly correction processing on the flexible circuit board according to the contact state of the male and female heads, so that the flexible circuit board can complete the press-fit assembly when the male and female heads are aligned.

[0036] In an embodiment of the present application, a flexible circuit board assembly correction method provided by the present application determines the contact state of the male and female heads of the flexible circuit board FPC when they are in contact with each other by monitoring the position of the flexible circuit board FPC to be assembled during the mechanized alignment assembly of the flexible circuit board FPC. Thereafter, the flexible circuit board FPC is corrected according to the contact state of the male and female heads during its alignment assembly, thereby completing the press-fit assembly operation of the flexible circuit board FPC with the male and female heads aligned.

[0037] In this way, the embodiment of the present application flexibly performs correction processing for the alignment assembly of the flexible circuit board FPC according to the contact status of the male and female heads of the flexible circuit board FPC, thereby achieving the goal of improving the assembly efficiency of the flexible circuit board FPC by replacing manual alignment assembly of the flexible circuit board FPC with machinery, and effectively ensuring the qualified assembly quality of the flexible circuit board FPC by performing assembly correction processing on the flexible circuit board FPC. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is a schematic diagram of the structure of a terminal device in the hardware operating environment involved in the embodiment of the present application;

[0039] Figure 2 This is a schematic diagram of the steps of an embodiment of a method for assembling a flexible circuit board according to the present application;

[0040] Figure 3 A schematic diagram of the male and female connector connection structure of a flexible circuit board (FPC) according to an embodiment of the assembly deviation correction method of the present application;

[0041] Figure 4 A schematic diagram of an assembly pressure curve and a Z-axis displacement curve involved in an embodiment of an assembly deviation correction method for a flexible circuit board of the present application;

[0042] Figure 5 A schematic diagram of a force control assembly process according to an embodiment of a method for correcting the assembly of a flexible printed circuit board of the present application;

[0043] Figure 6A schematic diagram of the deviation types of male and female heads involved in an embodiment of the assembly deviation correction method of the flexible circuit board of the present application;

[0044] Figure 7a A cross-sectional view of the male and female connectors in the XOZ plane according to an embodiment of the assembly deviation correction method for a flexible circuit board of the present application;

[0045] Figure 7b A cross-sectional view of the male and female connectors in the YOZ plane according to an embodiment of the assembly deviation correction method of the flexible circuit board of the present application;

[0046] Figure 8 A top view of the male and female head blocks involved in an embodiment of the assembly deviation correction method of the flexible circuit board of the present application;

[0047] Figure 9a , Figure 9b and Fig.9c All of them are schematic diagrams of the force-bearing scenes of the male and female heads in contact with each other involved in the first embodiment of the assembly deviation correction method of the flexible circuit board of the present application;

[0048] Fig.10a , Fig.10b and Fig.10c All of them are schematic diagrams of contact force variation curves involved in an embodiment of the assembly deviation correction method of the flexible circuit board of the present application;

[0049] Fig.11 This is a schematic diagram of a male and female connector contact state determination process involved in an embodiment of a method for correcting the assembly of a flexible circuit board of the present application;

[0050] Fig.12 A schematic diagram of a correction scenario involved in an embodiment of an assembly correction method for a flexible circuit board of the present application;

[0051] Fig.13 A schematic diagram of the force sense control action range involved in an embodiment of the assembly deviation correction method of a flexible circuit board of the present application;

[0052] Fig.14 This is a schematic diagram of the functional module structure involved in an embodiment of an assembly correction device for a flexible circuit board of the present application.

[0053] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0054] It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0055] Reference Figure 1 , Figure 1 This is a schematic diagram of the terminal device structure of the hardware operating environment involved in the embodiment of the present application.

[0056] It should be noted that Figure 1 The terminal device of the embodiment of the present application may be a VR mainboard assembly device that executes the assembly correction method of the flexible circuit board of the present application, and the VR mainboard assembly device may specifically grasp the flexible circuit board FPC to be assembled through a manipulator, and align and assemble the flexible circuit board FPC on the mainboard of the VR device.

[0057] It should be understood that, based on the different design requirements of actual applications, the terminal device of the embodiment of the present application may of course also be other devices or device modules. For example, the terminal device may specifically be a processing terminal or module configured in the above-mentioned VR motherboard assembly device, or a terminal device connected to the VR motherboard assembly device or the processing terminal or module (such as a data storage control terminal, PC or portable computer that executes the assembly correction method of the flexible circuit board of the present application, etc.).

[0058] like Figure 1 As shown, the terminal device may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a wireless fidelity (WIreless-FIdelity, WI-FI) interface). The memory 1005 may be a high-speed random access memory (Random Access Memory, RAM) memory, or a stable non-volatile memory (Non-Volatile Memory, NVM), such as a disk memory. The memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0059] Those skilled in the art will understand that Figure 1 The structure shown in the figure does not constitute a limitation on the terminal device, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0060] like Figure 1 As shown, the memory 1005 as a storage medium may include an operating system, a data storage module, a network communication module, a user interface module, and an assembly correction program for a flexible circuit board.

[0061] exist Figure 1 In the terminal device shown, the network interface 1004 is mainly used for data communication with other devices; the user interface 1003 is mainly used for data interaction with the user; in the embodiment of the present application, the processor 1001 and the memory 1005 can be set in the terminal device. Based on this, when the terminal device is the above-mentioned mobile terminal, the assembly correction program of the flexible circuit board stored in the memory 1005 is called by the processor 1001, and the following operations are performed:

[0062] Determining the contact state of the male and female connectors of the flexible circuit board according to the position of the flexible circuit board;

[0063] The flexible circuit board is subjected to alignment, assembly and deviation correction processing according to the contact state of the male and female heads, so that the flexible circuit board can be pressed and assembled with the male and female heads aligned.

[0064] Furthermore, the processor 1001 calls the assembly correction program of the flexible circuit board stored in the memory 1005, and also performs the following operations:

[0065] Determine whether the male connector on the flexible circuit board reaches the plane where the female connector of the flexible circuit board is located;

[0066] If yes, controlling the flexible circuit board to rotate to obtain the force control data of the male and female heads of the flexible circuit board;

[0067] The contact state of the male and female heads of the flexible circuit board is determined according to the male and female head force control data.

[0068] Furthermore, the male and female contact states include: no deviation state, unidirectional deviation state and bidirectional deviation state; the processor 1001 calls the assembly deviation correction program of the flexible circuit board stored in the memory 1005, and also performs the following operations:

[0069] If the male and female head force control data does not change during the process of controlling the rotation of the flexible circuit board, determining that the male and female head contact state of the flexible circuit board is the no-deviation state;

[0070] If the male and female head force control data changes during the process of controlling the flexible circuit board to rotate around the first central axis or the second central axis, determining that the male and female head contact state of the flexible circuit board is the unidirectional deviation state;

[0071] If the male and female head force control data changes in the process of controlling the flexible circuit board to rotate around the first central axis and the second central axis, it is determined that the male and female head contact state of the flexible circuit board is the bidirectional deviation state.

[0072] Furthermore, the processor 1001 calls the assembly correction program of the flexible circuit board stored in the memory 1005, and also performs the following operations:

[0073] When it is determined that the contact state of the male and female heads is the unidirectional deviation state, calculating the offset distance of the flexible circuit board according to the male and female head force control data;

[0074] The flexible circuit board is controlled to move according to the offset distance so as to perform alignment, assembly and deviation correction processing on the flexible circuit board.

[0075] Furthermore, the processor 1001 calls the assembly correction program of the flexible circuit board stored in the memory 1005, and also performs the following operations:

[0076] When it is determined that the contact state of the male and female heads is the bidirectional deviation state, a correction process is performed on the flexible circuit board in a single direction so that the contact state of the male and female heads of the flexible circuit board is the unidirectional deviation state;

[0077] When the contact state of the male and female heads is the unidirectional deviation state, the step of calculating the offset distance of the flexible circuit board according to the male and female head force control data and the step of controlling the movement of the flexible circuit board according to the offset distance to perform alignment, assembly and deviation correction processing on the flexible circuit board are executed.

[0078] Further, the processor 1001 calls the assembly correction program of the flexible circuit board stored in the memory 1005, and performs the following operations:

[0079] When it is determined that the contact state of the male and female heads is the non-deviation state, the posture of the male head of the flexible circuit board is controlled to remain within a preset posture range to perform alignment, assembly and deviation correction processing on the flexible circuit board, wherein the posture range is determined based on the maximum blocking angle of the male and female heads of the flexible circuit board.

[0080] Furthermore, the processor 1001 calls the assembly correction program of the flexible circuit board stored in the memory 1005, and also performs the following operations:

[0081] Determining the force sense control range of the flexible circuit board according to the male and female head sizes of the flexible circuit board and preset adjustable parameters;

[0082] The step of determining the contact state of the male and female heads of the flexible circuit board according to the position of the flexible circuit board and the step of performing alignment, assembly and deviation correction processing on the flexible circuit board according to the contact state of the male and female heads are performed according to the force control action range.

[0083] Based on the above-mentioned terminal device, various embodiments of the assembly deviation correction method of the flexible circuit board of the present application are provided.

[0084] Please refer to Figure 2 , Figure 2 This is a flow chart of a first embodiment of a method for assembling a flexible printed circuit board according to the present invention.

[0085] It should be understood that although the logical order is shown in the flowchart, in some cases, the assembly correction method of the flexible circuit board of the present application can of course perform the steps shown or described in a different order from that here. In addition, the assembly correction method of the flexible circuit board of the present application is applied to the above-mentioned terminal device. In order to clearly illustrate the assembly correction method of the flexible circuit board of the present application, the following text uses one of the terminal devices, the VR motherboard assembly device, as the execution subject to explain the assembly correction method of the flexible circuit board of the present application.

[0086] like Figure 2 As shown, in the first embodiment of the assembly deviation correction method of the flexible circuit board of the present application, the assembly deviation correction method of the flexible circuit board of the present application may include the following steps:

[0087] Step S10: determining the contact state of the male and female connectors of the flexible circuit board according to the position of the flexible circuit board;

[0088] In this embodiment, during the mechanized alignment assembly of the flexible circuit board FPC, the VR motherboard assembly equipment determines the contact state between the male and female heads of the flexible circuit board FPC when they are in contact with each other by monitoring the position of the flexible circuit board FPC to be assembled.

[0089] It should be noted that in this embodiment and other feasible embodiments described below, the VR motherboard assembly equipment can use a robot to grab the flexible circuit board FPC to be assembled to move the flexible circuit board FPC to the top of the VR motherboard, thereby replacing manual work with machinery to perform the alignment and assembly of the flexible circuit board FPC.

[0090] For example, Figure 3 As shown, when the VR mainboard assembly equipment grabs the flexible circuit board FPC and presses the male head of the flexible circuit board FPC into the female head (the female head is usually set on the PCB mainboard of the VR device) for fastening, it is necessary to first break through the double contacts on the female head. At this time, it is necessary to apply a slightly larger force to the flexible circuit board FPC; and at the moment when the male head breaks through the double contacts, the force applied to the flexible circuit board FPC needs to be reduced immediately; finally, after the male head completely breaks through the double contacts, the male head continues to descend to reach the state shown in the figure, completing the operation of assembling the flexible circuit board FPC on the PCB mainboard of the VR device.

[0091] In addition, in this embodiment and other feasible embodiments described below, since the important factor affecting the yield and quality of the flexible circuit board FPC assembly is: the force applied during the buckling of the male and female heads of the flexible circuit board FPC is too large, the above-mentioned VR motherboard assembly equipment also faces this problem when grabbing the flexible circuit board FPC for automatic assembly. Because under ideal conditions, the assembly force of the flexible circuit board FPC is maintained at the minimum assembly force as much as possible, and it is necessary to stop applying force immediately when the flexible circuit board FPC is buckled. If the assembly force is too small, the flexible circuit board FPC will not be able to complete the assembly smoothly, and if the force is too large, it may cause damage to the PCB motherboard of the VR device; and even if the minimum assembly force is maintained to buckle the flexible circuit board FPC, if the pressing operation is not stopped in time after the flexible circuit board FPC is assembled, it will also cause damage to the motherboard of the VR device.

[0092] For example, under the condition that the VR motherboard assembly device limits the maximum assembly force to 30N, when the VR motherboard assembly device grabs the flexible circuit board FPC to assemble it on the motherboard of the VR device, the curve of the assembly pressure applied by the VR motherboard assembly device to the flexible circuit board FPC and the curve of the displacement of the flexible circuit board FPC are as follows: Figure 4 As shown, the displacement of the flexible circuit board FPC is the Z-axis position curve. It can be seen from the figure that at time t1, the assembly force has reached the critical value of breaking through the above-mentioned double contacts, and then the assembly force shows a significant jump, indicating that the male head of the flexible circuit board FPC has successfully broken through the double contacts and is continuing to move down. At t2, the displacement trend of the male head of the flexible circuit board FPC slows down, indicating that the alignment assembly process of the flexible circuit board FPC has been completed at this time. However, since the force applied by the VR motherboard assembly equipment to the flexible circuit board FPC has not reached the maximum assembly force limit of 30N, the assembly force applied by the VR motherboard assembly equipment to the flexible circuit board FPC is still increasing, resulting in the displacement of the male head of the flexible circuit board FPC continuing slowly, thereby causing stress deformation of the VR device PCB motherboard. At t3, the assembly force applied by the VR motherboard assembly equipment to the flexible circuit board FPC has reached the maximum assembly force limit of 30N. At this time, the male head of the flexible circuit board FPC will stop moving down, so that the Z-axis displacement will remain basically unchanged afterwards.

[0093] Optionally, in some feasible embodiments, the above step S10, determining the contact state of the male and female connectors of the flexible circuit board according to the position of the flexible circuit board, may include:

[0094] Determine whether the male connector on the flexible circuit board reaches the plane where the female connector of the flexible circuit board is located;

[0095] If yes, controlling the flexible circuit board to rotate to obtain the force control data of the male and female heads of the flexible circuit board;

[0096] The contact state of the male and female heads of the flexible circuit board is determined according to the male and female head force control data.

[0097] In this embodiment, during the mechanized alignment assembly of the flexible circuit board FPC, the VR motherboard assembly device monitors the position of the flexible circuit board FPC to be assembled to determine whether the male head of the flexible circuit board FPC has reached the plane or surface where the female head of the flexible circuit board FPC located on the VR device motherboard is located. After that, when it is determined that the male head has reached the plane where the female head is located, the flexible circuit board FPC is immediately controlled to rotate by the manipulator that grabs the flexible circuit board FPC, so as to collect the male and female head force control data generated by the contact between the male head and the female head of the flexible circuit board FPC during the rotation process through the pre-configured force control sensor (also called force sensor). Furthermore, the VR motherboard assembly device can determine the male and female head contact state between the male head and the female head of the flexible circuit board FPC when they are in contact with each other based on the corresponding analysis of the male and female head force control data.

[0098] Optionally, in a feasible embodiment, the VR motherboard assembly device can set the contact state between the male head of the flexible circuit board FPC and the female head on the VR device PCB motherboard to three situations: separation state, contact state and insertion state, according to the positional relationship between the male head of the flexible circuit board FPC and the female head on the VR device PCB motherboard in the Z-axis direction. When the male head of the flexible circuit board FPC reaches the plane where the female head of the flexible circuit board FPC on the VR device PCB motherboard is located, the contact state of the male and female heads of the flexible circuit board determined by the force control data of the male and female heads is the specific situation when the male and female heads of the flexible circuit board FPC are in the "contact state".

[0099] Step S20: performing alignment, assembly and deviation correction processing on the flexible circuit board according to the contact state of the male and female connectors, so that the flexible circuit board can be pressed and assembled with the male and female connectors aligned.

[0100] In this embodiment, after determining the contact state of the male and female heads of the flexible circuit board FPC when the male and female heads are in contact with each other, the VR motherboard assembly equipment can further control the flexible circuit board FPC to perform corresponding correction processing based on the different types of the contact state of the male and female heads by grabbing the flexible circuit board FPC through a robot that performs automated alignment assembly on the flexible circuit board FPC, so that the male head of the flexible circuit board FPC is aligned with the female head on the PCB motherboard of the VR device, and in this case, the flexible circuit board FPC is pressed to complete the operation of pressing and assembling the flexible circuit board FPC on the PCB motherboard.

[0101] For example, Figure 5 As shown, the VR motherboard assembly equipment needs at least the following steps to successfully align and assemble the flexible circuit board FPC to the PCB motherboard of the VR device:

[0102] 1: Determine whether the male head of the flexible circuit board FPC is close to the plane where the female head of the flexible circuit board FPC on the PCB motherboard of the VR device is located. Exemplarily, the VR motherboard assembly device can specifically obtain the point cloud image of the male head of the flexible circuit board FPC through a 3D camera, and then control the manipulator to grab the flexible circuit board FPC according to the result calculated by the point cloud algorithm module, and then control the manipulator to move the flexible circuit board FPC to a blind installation position that corresponds to the position of the female head of the flexible circuit board FPC on the PCB motherboard of the VR device according to the offset obtained by the 2D camera, and then move the flexible circuit board FPC to gradually descend to the position of the surface where the female head is located.

[0103] 2: Identify the contact status of the male and female heads of the flexible circuit board FPC. After the VR motherboard assembly equipment moves the flexible circuit board FPC through the manipulator so that the male head of the flexible circuit board FPC reaches the surface where the female head of the flexible circuit board FPC on the VR device PCB motherboard is located, it further identifies the contact status of the male and female heads of the flexible circuit board FPC through the male and female head force control data (also called force control information) of the flexible circuit board FPC.

[0104] 3: Correct the deviation and align the alignment assembly of the flexible circuit board FPC. After the VR motherboard assembly equipment identifies the contact status of the male and female heads of the flexible circuit board FPC, it further controls the manipulator to move the flexible circuit board FPC to perform corresponding correction actions according to the contact status of the male and female heads, so that the male head of the flexible circuit board FPC and the female head of the flexible circuit board FPC on the VR device PCB motherboard are in alignment.

[0105] 4: Snap-on termination. After the VR motherboard assembly equipment controls the manipulator to move the flexible circuit board FPC to perform the corresponding correction action, so that the male and female heads of the flexible circuit board FPC are successfully aligned, it can immediately press the flexible circuit board FPC, and at the same time, the auxiliary assembly software determines the snap-on state between the male and female heads of the flexible circuit board FPC according to the force control tactile data, and then terminates the snap-on action and exits in time after determining that the male and female heads of the flexible circuit board FPC are successfully snapped.

[0106] In this embodiment, the assembly correction method of the flexible circuit board FPC provided in the embodiment of the present application determines the contact state between the male and female heads of the flexible circuit board FPC when they are in contact with each other by monitoring the position of the flexible circuit board FPC to be assembled by the VR motherboard assembly equipment during the mechanized alignment assembly of the flexible circuit board FPC. Afterwards, the VR motherboard assembly equipment further controls the flexible circuit board FPC to perform corresponding correction processing based on the different types of the male and female head contact states during the automated alignment assembly of the flexible circuit board FPC by the manipulator that grabs the flexible circuit board FPC, so that the male head of the flexible circuit board FPC is aligned with the female head located on the PCB motherboard of the VR device, and in this case, the flexible circuit board FPC is pressed to complete the operation of pressing and assembling the flexible circuit board FPC on the PCB motherboard.

[0107] In this way, the embodiment of the present application flexibly performs correction processing for the alignment assembly of the flexible circuit board FPC according to the contact status of the male and female heads of the flexible circuit board FPC, thereby achieving the goal of improving the assembly efficiency of the flexible circuit board FPC by replacing manual alignment assembly of the flexible circuit board FPC with machinery, and effectively ensuring the qualified assembly quality of the flexible circuit board FPC by performing assembly correction processing on the flexible circuit board FPC.

[0108] Furthermore, based on the first embodiment of the assembly deviation correction method for a flexible circuit board of the present application, a second embodiment of the assembly deviation correction method for a flexible circuit board of the present application is proposed.

[0109] In the second embodiment of the assembly deviation correction method for a flexible circuit board of the present application, since the contact situation between the male and female heads of the flexible circuit board FPC is very complicated, it is difficult for the VR motherboard assembly device to directly determine the contact status of the male and female heads of the flexible circuit board FPC only through force control information during the operation of the flexible circuit board FPC for automated assembly. Based on this, the VR motherboard assembly device classifies all possible contact situations of the male and female heads of the flexible circuit board FPC, thereby determining that the contact status of the male and female heads of the flexible circuit board FPC includes at least: no deviation state, unidirectional deviation state and bidirectional deviation state. Therefore, the step of "determining the contact status of the male and female heads of the flexible circuit board according to the male and female head force control data" in the above step S10 may include:

[0110] If the male and female head force control data does not change during the process of controlling the rotation of the flexible circuit board, determining that the male and female head contact state of the flexible circuit board is the no-deviation state;

[0111] If the male and female head force control data changes during the process of controlling the flexible circuit board to rotate around the first central axis or the second central axis, determining that the male and female head contact state of the flexible circuit board is the unidirectional deviation state;

[0112] If the male and female head force control data changes in the process of controlling the flexible circuit board to rotate around the first central axis and the second central axis, it is determined that the male and female head contact state of the flexible circuit board is the bidirectional deviation state.

[0113] In this embodiment, when the VR motherboard assembly equipment (the entire text needs to be replaced with the VR motherboard assembly equipment) collects the male and female head force control data of the flexible circuit board FPC during the rotating process to identify and determine the contact state of the male and female heads of the flexible circuit board FPC when the male head and the female head of the flexible circuit board FPC are in contact with each other, if the VR motherboard assembly equipment finds through analysis that the male and female head force control data have not changed during the process of controlling the rotation of the flexible circuit board FPC, the VR motherboard assembly equipment directly determines that the male head of the flexible circuit board FPC has been accurately aligned to the position of the female head of the flexible circuit board FPC on the VR device PCB mainboard, and thus, the contact state of the male and female heads of the flexible circuit board FPC is in a non-deviation state at this time.

[0114] In addition, if the VR motherboard assembly equipment finds through analysis that the male and female head force control data changes in the process of controlling the rotation of the flexible circuit board FPC, the male and female head force control data changes in the process of controlling the rotation of the flexible circuit board around the first center axis, or the male and female head force control data changes in the process of controlling the rotation of the flexible circuit board around the second center axis, then the VR motherboard assembly equipment determines that at this time, the male head of the flexible circuit board FPC is not accurately aligned with the position of the female head of the flexible circuit board FPC on the VR device PCB motherboard, and there is a misalignment with the edge of the female head in one direction, thereby determining that the contact state of the male and female heads of the flexible circuit board FPC is a unidirectional deviation state at this time.

[0115] In addition, if the VR motherboard assembly equipment finds through analysis that the male and female head force control data changes in the process of controlling the rotation of the flexible circuit board FPC, and the male and female head force control data changes in the process of controlling the rotation of the flexible circuit board around the first center axis, and the male and female head force control data also changes in the process of controlling the rotation of the flexible circuit board around the second center axis, then the VR motherboard assembly equipment determines that at this time, the male head of the flexible circuit board FPC is not accurately aligned with the position of the female head of the flexible circuit board FPC on the VR device PCB motherboard, but is misaligned with the edges of the female head in two directions, thereby determining that the contact state of the male and female heads of the flexible circuit board FPC is a bidirectional deviation state at this time.

[0116] For example, Figure 6 As shown, when the VR motherboard assembly equipment grabs the flexible circuit board FPC on the XOY plane through the manipulator and rotates around the first center axis - OX axis and the second center axis OY axis respectively, there may be at least 9 types of deviations in the contact state of the male and female heads of the flexible circuit board FPC. Among them, since the bidirectional deviation can be transformed into a unidirectional deviation by adjusting the flexible circuit board FPC in one direction, the VR motherboard assembly equipment can classify the male and female head contact states of the four flexible circuit boards FPC shown in Figure 6, 7, 8 and 9 as bidirectional deviation states, and the male and female head contact states of the four flexible circuit boards FPC shown in Figure 2, 3, 4 and 5 as unidirectional deviation states. As for the male and female head contact state 1 shown in the figure, it is a non-deviation state.

[0117] Optionally, in some feasible embodiments, after the VR motherboard assembly device identifies and determines that the male and female contact states of the flexible circuit board FPC are the above-mentioned non-deviation state, unidirectional deviation state or bidirectional deviation state, the VR motherboard assembly device can further control the flexible circuit board FPC to perform corresponding alignment assembly and deviation correction processing based on the specific category of the male and female contact states. Based on this, the step of "performing alignment assembly and deviation correction processing on the flexible circuit board according to the male and female contact states" in the above-mentioned step S20 may include:

[0118] When it is determined that the contact state of the male and female heads is the non-deviation state, the posture of the male head of the flexible circuit board is controlled to remain within a preset posture range to perform alignment, assembly and deviation correction processing on the flexible circuit board, wherein the posture range is determined based on the maximum blocking angle of the male and female heads of the flexible circuit board.

[0119] In this embodiment, the VR mainboard assembly equipment collects the force control data of the male and female heads of the flexible circuit board FPC during the rotating process, and then identifies and determines based on the force control data that the contact state between the male and female heads of the flexible circuit board FPC when the male and female heads are in contact with each other is the above-mentioned non-deviation state. Then, the VR mainboard assembly equipment grabs the flexible circuit board FPC through a manipulator to control the flexible circuit board FPC to be pressed into the female head located on the PCB mainboard of the VR device along the Z-axis direction. The position of the male head of the flexible circuit board FPC is always maintained within a preset posture range, thereby achieving the process of aligning, assembling and correcting the deviation of the flexible circuit board FPC when the contact state of the male and female heads of the flexible circuit board FPC is in a non-deviation state.

[0120] It should be noted that in this embodiment and other feasible embodiments, the posture range is determined in advance by the VR motherboard assembly equipment based on the maximum blocking angle of the male and female heads of the flexible circuit board FPC, and is the male head posture range in which the male head of the flexible circuit board FPC can be smoothly fastened with the female head on the PCB motherboard without causing blocking.

[0121] In addition, even if the male and female planes of the flexible circuit board FPC are in the same plane (the male and female contact states are in the same state), the VR motherboard assembly equipment may still not be able to successfully complete the assembly of the flexible circuit board FPC onto the PCB motherboard on the VR device. This is because the VR motherboard assembly equipment cannot ensure that the posture of the male head of the flexible circuit board FPC meets the requirements when entering the female head during the correction process of the alignment assembly of the flexible circuit board FPC based on the force control sensor (if the male head posture of the flexible circuit board FPC does not meet the requirements, there will be a jamming problem between the male and female heads of the flexible circuit board FPC). In order to ensure that the male head posture of the flexible circuit board FPC meets the requirements to avoid jamming problems, the VR motherboard assembly equipment also needs to limit the posture range of the force control sensor.

[0122] For example, in three-dimensional space, the male head position of the flexible circuit board FPC is determined by the angles in the three directions of XYZ. It is only necessary to calculate the maximum angle that will cause blocking in the three directions of XYZ. During the assembly process, the male head position of the flexible circuit board FPC is controlled by the force control module to always maintain the position in the appropriate posture range to complete the assembly. Figure 7a and Figure 7b As shown ( Figure 7a This is the cross-sectional view of the male and female headers in the XOZ plane. Figure 7b The actual situation of the male connector of the flexible circuit board FPC being stuck in the female connector is that when one corner of the male connector of the flexible circuit board FPC just touches the inner wall of the female connector, the edge of the corner has already touched the inner wall of the other side of the female connector. At this time, the male connector of the flexible circuit board FPC is in the maximum posture that needs to avoid the problem of sticking. Optionally, as Figure 7a and Figure 7b According to the geometric relationship, it can be concluded that:

[0123]

[0124] That is, when the angle of the male head of the flexible circuit board FPC around the X axis is greater than or equal to θ Xmax When the Y axis is 1 / 2, the male and female heads of the flexible circuit board FPC will get stuck during the assembly process, otherwise it will not, and the same is true for the Y axis.

[0125] Alternatively, if Figure 8 As shown, Figure 8This is a cross-sectional view of the male and female contact surfaces of the flexible circuit board FPC in the XOY plane. The rotation angle of the flexible circuit board FPC in the XOY plane is θ Zmax At this time, the corner of the male connector of the flexible circuit board FPC just touches the inner wall of the female connector, and the angle θ formed by the long side of the male connector of the flexible circuit board FPC and the short side of the female connector is Zmax It is the angle at which the male head of the flexible circuit board FPC rotates around the Z axis.

[0126]

[0127] The head posture needs to meet the following requirements: when the male head of the flexible circuit board FPC reaches the plane where the female head on the VR device PCB motherboard is located, ensure that the rotation angle of the male head of the flexible circuit board FPC around the XYZ axis is less than θ Xmax ,θ Ymax and θ Zmax This can avoid the problem of blocking between the male connector and the female connector during the automated alignment assembly of the flexible circuit board FPC.

[0128] In this embodiment, since the VR motherboard assembly equipment collects the male and female head force control data between the male and female heads of the flexible circuit board FPC during the rotation of the flexible circuit board FPC based on the force control sensor, so as to identify the contact state of the male and female heads of the flexible circuit board FPC based on the force control data, and then perform the alignment and assembly correction of the flexible circuit board FPC based on the specific type of the male and female head contact state, it is necessary to limit the action range of the force control tactile sense of the force control sensor, and then cooperate with the visual information to complete the precise alignment between the male head of the flexible circuit board FPC and the female head on the PCB motherboard, and the action range of the force control tactile sense will limit the initial position and angle of the male head of the flexible circuit board FPC. That is, before the male and female heads of the flexible circuit board FPC are aligned, it is necessary to ensure that the control of the flexible circuit board FPC meets two conditions: ① The male head of the flexible circuit board FPC is within a certain range above the female head; ② The rotation angle of the male head posture of the flexible circuit board FPC and the axis is less than the minimum blocking angle threshold.

[0129] Optionally, in some feasible embodiments, the step of "performing alignment and assembly correction processing on the flexible circuit board according to the contact state of the male and female heads" in the above step S20 may further include:

[0130] When it is determined that the contact state of the male and female heads is the unidirectional deviation state, calculating the offset distance of the flexible circuit board according to the male and female head force control data;

[0131] The flexible circuit board is controlled to move according to the offset distance so as to perform alignment, assembly and deviation correction processing on the flexible circuit board.

[0132] In this embodiment, the VR motherboard assembly equipment (the entire text needs to be replaced with the VR motherboard assembly equipment) collects the male and female head force control data of the flexible circuit board FPC during the rotating flexible circuit board FPC, and then identifies and determines based on the male and female head force control data that the male and female head contact state of the male and female heads of the flexible circuit board FPC when they are in contact with each other is the above-mentioned unidirectional deviation state. Then, the VR motherboard assembly equipment calculates the offset distance of the flexible circuit board FPC in the X-axis or Y-axis direction according to the male and female head force control data of the flexible circuit board FPC, and then grabs the flexible circuit board FPC by a manipulator to control the flexible circuit board FPC to move in the X-axis or Y-axis direction according to the offset distance until the male head of the flexible circuit board FPC is aligned with the female head located on the PCB motherboard of the VR device, thereby realizing the alignment, assembly and deviation correction processing for the flexible circuit board FPC when the male and female heads of the flexible circuit board FPC are in the unidirectional deviation state.

[0133] Optionally, in some other feasible embodiments, the step of "performing alignment and assembly correction processing on the flexible circuit board according to the contact state of the male and female heads" in the above step S20 may also include:

[0134] When it is determined that the contact state of the male and female heads is the bidirectional deviation state, a correction process is performed on the flexible circuit board in a single direction so that the contact state of the male and female heads of the flexible circuit board is the unidirectional deviation state;

[0135] When the contact state of the male and female heads is the unidirectional deviation state, the step of calculating the offset distance of the flexible circuit board according to the male and female head force control data and the step of controlling the movement of the flexible circuit board according to the offset distance to perform alignment, assembly and deviation correction processing on the flexible circuit board are executed.

[0136] In this embodiment, the VR motherboard assembly equipment (the entire text needs to be replaced with the VR motherboard assembly equipment) collects the force control data of the male and female heads of the flexible circuit board FPC during the rotating process, and then identifies and determines based on the male and female head force control data that the contact state of the male and female heads of the flexible circuit board FPC when they are in contact with each other is the above-mentioned bidirectional deviation state. Then, the VR motherboard assembly equipment can perform the alignment assembly and deviation correction processing on the flexible circuit board FPC according to the above-mentioned process when the contact state of the male and female heads of the flexible circuit board FPC is the unidirectional deviation state. The deviation correction processing is first performed in a single direction on the flexible circuit board FPC, so that the contact state of the male and female heads of the flexible circuit board FPC is changed from the bidirectional deviation state to the above-mentioned unidirectional deviation state. Afterwards, the VR motherboard assembly equipment further calculates the offset distance of the flexible circuit board FPC in the X-axis or Y-axis direction according to the force control data of the male and female heads of the flexible circuit board FPC, and then grabs the flexible circuit board FPC through a manipulator to control the flexible circuit board FPC to move in the X-axis or Y-axis direction according to the offset distance until the male head of the flexible circuit board FPC is aligned with the female head on the VR device PCB motherboard. Thus, the VR motherboard assembly equipment realizes the alignment assembly and deviation correction processing for the flexible circuit board FPC when the contact state of the male and female heads of the flexible circuit board FPC is a bidirectional deviation state.

[0137] It should be noted that, in this embodiment and other feasible embodiments, since the male head of the flexible circuit board FPC has a deviation problem when contacting the female head during the assembly process, the VR motherboard assembly equipment determines that there is a deviation when the male head of the flexible circuit board FPC contacts the female head plane (that is, the VR motherboard assembly equipment determines that the contact state of the male and female heads of the flexible circuit board FPC is the above-mentioned unidirectional deviation state or the bidirectional deviation state). The VR motherboard assembly equipment needs to first identify the contact state of the male and female heads of the flexible circuit board FPC to determine whether the contact state of the male and female heads is specifically the above-mentioned unidirectional deviation state or the bidirectional deviation state, and then complete the alignment assembly correction of the flexible circuit board FPC according to the correction strategy of the corresponding state to align the male and female heads, and then continue the assembly action.

[0138] For example, after the VR motherboard assembly equipment successfully clamps the flexible circuit board FPC with a pneumatic gripper through a manipulator, it will move the male head of the flexible circuit board FPC to above the blind installation position. When the PCB motherboard product of the VR device is placed stably inside the tooling, the PCB motherboard basically remains horizontal, so the male head of the flexible circuit board FPC will also approach the plane where the female head on the PCB motherboard is located while remaining horizontal. Therefore, when the male head of the flexible circuit board FPC just touches the female head, the VR motherboard assembly equipment will be subjected to a force F in the negative direction of the Z axis through the force control sensor. When the force F is greater than the preset threshold value Fth When the VR motherboard assembly equipment is in place, it can be considered that the male head of the flexible circuit board FPC has reached the female head plane.

[0139] At this time, the VR motherboard assembly equipment can only use the force control data of the male and female heads of the flexible circuit board FPC collected by the force control sensor to determine the contact status of the male and female heads of the flexible circuit board FPC (the contact status of the male and female heads at this time is Figure 6 In case 4), if the VR motherboard assembly equipment controls the robot to grab the flexible circuit board FPC and rotate it around the Y axis to Figure 9b As shown, at this time, there is a contact force F between the male and female edges of the flexible circuit board FPC, and the magnitude of F is positively correlated with the deformation variable k, and the relationship is as follows:

[0140] F=K*ε=K*i*sinθ

[0141] Among them, K represents the stiffness of the edge where the male head of the flexible circuit board FPC contacts the female head on the PCB main board, and i represents the distance from the point of application to the rotation center O.

[0142] In this way, V can be determined: when the male head of the flexible circuit board FPC rotates around the rotation center at a very small angle (rotating in the positive direction around the Y axis), the larger the rotation angle, the larger F will be. Conversely, when the male head of the flexible circuit board FPC rotates in the opposite direction (such as Fig.9c As shown in the figure, the negative rotation around the Y axis) is the larger the rotation angle is, the smaller F is.

[0143] Optionally, the VR motherboard assembly equipment can conclude based on F=K*ε=K*i*sinθ that after the male head of the flexible circuit board FPC contacts the female head, if the contact state of the male and female heads of the flexible circuit board FPC is Figure 6 In case 4, the male head of the flexible circuit board FPC is controlled to rotate around the rotation center (rotate around the Y axis in the positive direction) by θ degrees. During the rotation process, the contact force |F| between the male and female heads gradually increases. Then, the male head of the flexible circuit board FPC is controlled to rotate around the rotation center (rotate around the Y axis in the negative direction) by 2θ degrees. At this time, the contact force |F| between the male and female heads gradually decreases. Then, the male head of the flexible circuit board FPC is rotated to its original position. The theoretical change curve of F during the entire rotation process will be as follows: Fig.10a shown.

[0144] In addition, VR motherboard assembly equipment can also conclude based on F=K*ε=K*i*sinθ: After the male head of the flexible circuit board FPC contacts the female head, if the male and female heads of the flexible circuit board FPC are in contact, Figure 6 In case 2, the pressure change trend of the male head of the flexible circuit board FPC during rotation should be the same as Fig.10a On the contrary, that is, the theoretical variation curve of F during the entire rotation process will be as follows Fig.10bshown.

[0145] In addition, if the contact state of the male and female heads of the flexible circuit board FPC is bidirectionally offset after the male and female heads of the flexible circuit board FPC come into contact with each other, no matter in which direction the VR motherboard assembly equipment controls the male head of the flexible circuit board FPC to move, the contact force between the male and female heads of the flexible circuit board FPC should increase, so the theoretical change curve of F should be as follows: Fig.10c shown.

[0146] Similarly, if V is selected to control the male head of the flexible circuit board FPC to rotate around the X axis, the contact state of the male and female heads of the flexible circuit board FPC is as follows: Figure 6 In case 3 of FIG. 1 , the change curve of the contact force F between the male and female heads of the flexible circuit board FPC during the rotation of the male head of the flexible circuit board FPC around the X axis should be the same as Fig.10a As shown; when the male and female heads are in contact Figure 6 In case 5, the change curve of the contact force F between the male and female heads during the rotation of the male head of the flexible circuit board FPC around the X axis should be the same as Fig.10b As shown; when the contact state of the male and female heads is situation 6, 7, 8 or 9, when the male head of the flexible circuit board FPC rotates around the X or Y axis, the change curve of the contact force F of the male and female heads is the same as Fig.10c shown.

[0147] Optionally, after the VR motherboard assembly equipment contacts the male and female heads of the above-mentioned flexible circuit board FPC, the male head of the flexible circuit board FPC is controlled to rotate back and forth around the X and Y axes by a certain angle, and the corresponding relationship between the change curve of the male and female head contact force F generated and the male and female head contact state is organized into the following table:

[0148]

[0149] Therefore, the VR motherboard assembly equipment can determine from the table that when the male and female contacts of the flexible circuit board FPC are only unidirectionally offset, the male and female force control data curve obtained by controlling the male head of the flexible circuit board FPC to rotate around the X and Y axes in turn can be used to determine that the current male and female contact state of the flexible circuit board FPC is a unidirectional deviation state. When the male and female contact state of the flexible circuit board FPC is a bidirectional deviation state, the male and female force control data of only one rotation cannot identify the specific situation of the current male and female contact (that is, which of the above subcategories it is).

[0150] Optionally, in some feasible embodiments, such as Fig.11As shown, after the contact force of the male and female heads of the flexible circuit board FPC obtained by the force control sensor reaches the threshold, the VR motherboard assembly device controls the male head of the flexible circuit board FPC to rotate around the X-axis first (rotate θ degrees in the positive direction, then rotate 2 degrees θ in the negative direction, and then rotate θ degrees in the positive direction to the original position), and analyzes the curve of the male and female head contact force in this process, so that when the curve increases first and then decreases, the contact state of the male and female heads of the flexible circuit board FPC is determined to be a positive deviation of the Y axis; and when the curve decreases first and then increases, the contact state of the male and female heads of the flexible circuit board FPC is determined to be a negative deviation of the Y axis; if the curve is other, the male head of the flexible circuit board FPC continues to be controlled to rotate around the Y axis, and then the force control curve is further analyzed to determine the contact state of the male and female heads of the flexible circuit board FPC according to the classification in the above table. If the VR motherboard assembly device still cannot identify the specific deviation type of the contact state of the male and female heads of the flexible circuit board FPC after the above process, the contact state of the male and female heads of the flexible circuit board FPC can be directly classified as a bidirectional deviation state.

[0151] Optionally, after the VR motherboard assembly device determines through the above process that the male and female contact state of the flexible circuit board FPC is the above-mentioned unidirectional deviation state, assuming that the VR motherboard assembly device further determines that the current specific deviation classification of the male and female contact state is a positive deviation on the Y axis, then according to the formula It can be seen that when the angle θ of the male head of the flexible circuit board FPC is determined, |F|max is proportional to the distance i from the contact point to the rotation center O. Then, the VR motherboard assembly equipment can further obtain the formula for controlling the offset distance i of the male head of the flexible circuit board FPC as follows:

[0152]

[0153] In this way, the VR motherboard assembly equipment can calculate the above-mentioned offset distance i after determining that the male and female contact states of the flexible circuit board FPC are in a unidirectional deviation state through the above process, and Fig.12 In the process shown in ① to ⑥, the flexible circuit board FPC is grasped by a robot to control the male head of the flexible circuit board FPC to move according to the offset distance i to complete the correction processing of the alignment assembly of the flexible circuit board FPC.

[0154] Optionally, in some feasible embodiments, since the bidirectional offset cannot determine the offset direction through force control data, when the VR motherboard assembly device determines through the above process that the contact state of the male and female heads of the flexible circuit board FPC is a bidirectional deviation state, since it is necessary to control the flexible circuit board FPC to move twice in the X and Y directions to complete the alignment of the male and female heads of the flexible circuit board FPC, the VR motherboard assembly device can, based on the basic idea of ​​random search, first control the flexible circuit board FPC to only process the offset in the Y direction according to the same process as above, so as to transform the contact state of the male and female heads from the bidirectional deviation state to the unidirectional offset state, and then perform the X-direction offset to complete the correction processing process of the alignment assembly of the flexible circuit board FPC.

[0155] Furthermore, based on the first embodiment and / or the second embodiment of the assembly deviation correction method for a flexible circuit board of the present application, a third embodiment of the assembly deviation correction method for a flexible circuit board of the present application is proposed.

[0156] In the third embodiment of the assembly deviation correction method of the flexible circuit board of the present application, the assembly deviation correction method of the flexible circuit board of the present application may further include:

[0157] Determining the force sense control range of the flexible circuit board according to the male and female head sizes of the flexible circuit board and preset adjustable parameters;

[0158] The step of determining the contact state of the male and female heads of the flexible circuit board according to the position of the flexible circuit board and the step of performing alignment, assembly and deviation correction processing on the flexible circuit board according to the contact state of the male and female heads are performed according to the force control action range.

[0159] In this embodiment, the VR motherboard assembly equipment needs to set the force control range of the force control sensor in advance, so that when executing the above-mentioned step S10 and the step S20 to perform alignment, assembly and deviation correction on the flexible circuit board according to the contact state of the male and female heads, the force control data of the male and female heads between the male and female heads of the flexible circuit board FPC during the rotation of the flexible circuit board FPC can be collected based on the force control sensor according to the set force control range, so as to identify the contact state of the male and female heads of the flexible circuit board FPC based on the force control data, and then perform alignment, assembly and deviation correction of the flexible circuit board FPC based on the specific type of the contact state of the male and female heads.

[0160] For example, before using the force control sensor to collect the force control data between the male and female heads of the flexible circuit board FPC during the rotation of the flexible circuit board FPC, the VR motherboard assembly equipment can first determine the force control range of the force control sensor. The size of the force control range will affect the efficiency and accuracy of the final alignment and assembly correction of the V on the flexible circuit board FPC. Fig.13 As shown in the figure, it is assumed that the male head of the flexible circuit board FPC to be assembled by the VR motherboard assembly equipment through the robot arm and the geometric parameters of the female head of the flexible circuit board FPC located on the VR device PCB motherboard are: the width of the male head of the flexible circuit board FPC is h, the length is l, and the width of the female head of the flexible circuit board FPC is H, the length is L. Then the formula for determining the range of force control is:

[0161]

[0162] That is, the force control range of the force control sensor is extended outward from the target position (the position of the male head when the male head and the female head are engaged), where L f Indicates the length of the force control range, H f It represents the width of the force control range, and α and β are coefficients.

[0163] It should be noted that, in this embodiment and other feasible embodiments, the above-mentioned coefficients α and β can be adjusted according to actual conditions. For example, the VR motherboard assembly equipment can adjust the coefficients α and β according to the geometric parameters of the male head of the flexible circuit board FPC.

[0164] For example, during the alignment stage in which the VR motherboard assembly equipment controls the flexible circuit board FPC through a robot to perform automated alignment assembly, it mainly relies on the force control sensor to collect the force information of the male head of the flexible circuit board FPC (i.e., the above-mentioned male and female head force control data) to determine the deviation relationship between the current position of the male head and the target position. The force information is related to the specific situation corresponding to the contact state of the male and female heads. Therefore, although the force control sensor can determine the force condition of the male head of the current flexible circuit board FPC, it cannot guarantee that it is correctly aligned and in contact with the female head, because the male head of the flexible circuit board FPC will also trigger the force feedback of the force control sensor when it directly contacts the capacitor on the PCB motherboard of the VR device. In areas where electronic components are relatively dense on the PCB motherboard, if the male head of the flexible circuit board FPC contacts other electronic components, the VR motherboard assembly equipment will most likely mistake it for the target area (i.e., the area where the female head is located), resulting in assembly failure or even damage to the product. Based on this, the force control range of the force control sensor should ensure that most of the male head of the flexible circuit board FPC falls into the target area to avoid damage to the product. This means that the values ​​of the above-mentioned adjustable coefficients α and β should both be less than 0.5 (through verification, it was found that in the link where the VR motherboard assembly equipment controls the flexible circuit board FPC for actual alignment assembly, the assembly task can be completed correctly when the values ​​of α and β are below 0.5).

[0165] In this embodiment, based on the above formula for determining the range of force control, it can be known that after determining the size of the male and female heads of the flexible circuit board FPC, the range of force control of the force control sensor depends only on the adjustable coefficients α and β, and it is known that the value range of α and β is 0 to 0.5. It is further found based on the inference that the larger the values ​​of α and β, the lower the positioning accuracy requirements of the VR motherboard assembly equipment for the blind installation position of the flexible circuit board FPC, that is, the lower the calculation accuracy of 3D, 2D and the algorithm, but this will include more complex male and female contact states, thereby increasing the complexity of correction and reducing assembly efficiency; on the contrary, when the values ​​of α and β are smaller, the calculation accuracy requirements for 3D, 2D and the algorithm are higher, and the requirements for force control correction are lower. Therefore, when selecting the specific values ​​of α and β in the range of 0 to 0.5, it can be determined in combination with the calculation accuracy of 3D, 2D and the algorithm.

[0166] Furthermore, to achieve the above-mentioned purpose, the present application also provides an assembly deviation correction device for a flexible circuit board.

[0167] Please refer to Fig.14 The assembly deviation correction device of the flexible circuit board of the present application comprises:

[0168] A contact state determination module 10, used to determine the contact state of the male and female connectors of the flexible circuit board according to the position of the flexible circuit board;

[0169] The assembly correction module 20 is used to perform alignment and assembly correction processing on the flexible circuit board according to the contact state of the male and female heads, so that the flexible circuit board can complete the press-fit assembly when the male and female heads are aligned.

[0170] Optionally, the contact state determination module 10 includes:

[0171] a position determination unit, used to determine whether the male connector on the flexible circuit board reaches the plane where the female connector of the flexible circuit board is located;

[0172] A rotation control unit, configured to control the rotation of the flexible circuit board to obtain force control data of the male and female heads of the flexible circuit board if the position unit determines that the position is yes;

[0173] A force control analysis unit is used to determine the contact state of the male and female heads of the flexible circuit board according to the male and female head force control data.

[0174] Optionally, the male and female contact states include: no deviation state, unidirectional deviation state and bidirectional deviation state; the force control analysis unit includes:

[0175] A first analysis and determination subunit is configured to determine that the contact state of the male and female heads of the flexible circuit board is the non-deviation state if the male and female head force control data does not change during the process of controlling the rotation of the flexible circuit board;

[0176] a second analyzing and determining subunit, configured to determine that the contact state of the male and female heads of the flexible circuit board is the unidirectional deviation state if the male and female head force control data changes during the process of controlling the flexible circuit board to rotate around the first central axis or the second central axis;

[0177] The third analysis and determination subunit is used to determine that the contact state of the male and female heads of the flexible circuit board is the bidirectional deviation state if the male and female head force control data changes in the process of controlling the flexible circuit board to rotate around the first central axis and the second central axis.

[0178] Optionally, assembling the correction module 20 includes:

[0179] The first correction unit is used to calculate the offset distance of the flexible circuit board according to the male and female head force control data when it is determined that the contact state of the male and female heads is the unidirectional deviation state; and control the movement of the flexible circuit board according to the offset distance to perform alignment assembly correction processing on the flexible circuit board.

[0180] Optionally, the assembly correction module 20 further includes:

[0181] The second correction unit is used for, when it is determined that the contact state of the male and female heads is the bidirectional deviation state, performing correction processing in a single direction on the flexible circuit board to make the contact state of the male and female heads of the flexible circuit board the unidirectional deviation state; and when the contact state of the male and female heads is the unidirectional deviation state, executing the step of calculating the offset distance of the flexible circuit board according to the male and female head force control data, and executing the step of controlling the movement of the flexible circuit board according to the offset distance to perform alignment assembly correction processing on the flexible circuit board.

[0182] Optionally, the assembly correction module 20 further includes:

[0183] The third deviation correction unit is used to control the posture of the male head of the flexible circuit board to remain within a preset posture range when it is determined that the contact state of the male and female heads is the non-deviation state, so as to perform alignment and assembly correction processing on the flexible circuit board, wherein the posture range is determined based on the maximum blocking angle of the male and female heads of the flexible circuit board.

[0184] Optionally, the assembly deviation correction device for the flexible circuit board of the present application further includes:

[0185] A force control configuration module is used to determine the force control range of the flexible circuit board according to the male and female head sizes of the flexible circuit board and preset adjustable parameters; and to perform the step of determining the contact state of the male and female heads of the flexible circuit board according to the position of the flexible circuit board according to the force control range, and to perform the step of aligning, assembling and correcting the flexible circuit board according to the contact state of the male and female heads.

[0186] The specific embodiments of the flexible circuit board assembly correction device provided in the present application when the various functional modules are in operation are basically the same as the embodiments of the flexible circuit board assembly correction method described above, and will not be described in detail here.

[0187] In addition, the present application also provides a terminal device, which includes: a memory, a processor, and an assembly correction program for a flexible circuit board stored in the memory and runnable on the processor. When the processor of the terminal device executes the assembly correction program for the flexible circuit board, the steps of the assembly correction method for the flexible circuit board as described in any of the above embodiments are implemented.

[0188] The specific embodiments of the terminal device of the present application are basically the same as the embodiments of the assembly correction method of the above-mentioned flexible circuit board, and will not be described in detail here.

[0189] In addition, the present application also provides a computer storage medium, which stores an assembly correction program for a flexible circuit board. When the assembly correction program for a flexible circuit board is executed by a processor, the steps of the assembly correction method for a flexible circuit board described in any of the above embodiments are implemented.

[0190] The specific embodiments of the computer storage medium of the present invention are basically the same as the embodiments of the assembly deviation correction method of the flexible circuit board described above, and will not be described in detail here.

[0191] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

[0192] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0193] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product is stored in a storage medium (such as ROM / RAM, disk, CD) as described above, including a number of instructions for enabling a terminal device (which can be a device for executing the assembly correction method of the flexible circuit board of the present application, and the terminal device can specifically be a mobile terminal, a data storage control terminal, a PC or a portable computer, etc.) to execute the methods described in each embodiment of the present application.

[0194] The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A method for assembling and correcting a flexible circuit board, characterized in that: The assembly deviation correction method of the flexible circuit board comprises the following steps: Determining the contact state of the male and female connectors of the flexible circuit board according to the position of the flexible circuit board; The flexible circuit board is subjected to alignment, assembly and deviation correction processing according to the contact state of the male and female heads, so that the flexible circuit board can be pressed and assembled with the male and female heads aligned.

2. The assembly deviation correction method of a flexible circuit board according to claim 1, characterized in that: The step of determining the contact state of the male and female connectors of the flexible circuit board according to the position of the flexible circuit board comprises: Determine whether the male connector on the flexible circuit board reaches the plane where the female connector of the flexible circuit board is located; If yes, controlling the flexible circuit board to rotate to obtain the force control data of the male and female heads of the flexible circuit board; The contact state of the male and female heads of the flexible circuit board is determined according to the male and female head force control data.

3. The assembly deviation correction method of a flexible circuit board according to claim 2, characterized in that: The male and female contact states include: no deviation state, unidirectional deviation state and bidirectional deviation state; The step of determining the contact state of the male and female heads of the flexible circuit board according to the male and female head force control data comprises: If the male and female head force control data does not change during the process of controlling the rotation of the flexible circuit board, determining that the male and female head contact state of the flexible circuit board is the no-deviation state; If the male and female head force control data changes during the process of controlling the flexible circuit board to rotate around the first central axis or the second central axis, determining that the male and female head contact state of the flexible circuit board is the unidirectional deviation state; If the male and female head force control data changes in the process of controlling the flexible circuit board to rotate around the first central axis and the second central axis, it is determined that the male and female head contact state of the flexible circuit board is the bidirectional deviation state.

4. The assembly deviation correction method of a flexible circuit board according to claim 3, characterized in that: The step of performing alignment and assembly correction processing on the flexible circuit board according to the contact state of the male and female heads includes: When it is determined that the contact state of the male and female heads is the unidirectional deviation state, calculating the offset distance of the flexible circuit board according to the male and female head force control data; The flexible circuit board is controlled to move according to the offset distance so as to perform alignment, assembly and deviation correction processing on the flexible circuit board.

5. The assembly deviation correction method of a flexible circuit board according to claim 4, characterized in that: The step of performing alignment and assembly correction processing on the flexible circuit board according to the contact state of the male and female heads further includes: When it is determined that the contact state of the male and female heads is the bidirectional deviation state, a correction process is performed on the flexible circuit board in a single direction so that the contact state of the male and female heads of the flexible circuit board is the unidirectional deviation state; When the contact state of the male and female heads is the unidirectional deviation state, the step of calculating the offset distance of the flexible circuit board according to the male and female head force control data and the step of controlling the movement of the flexible circuit board according to the offset distance to perform alignment, assembly and deviation correction processing on the flexible circuit board are executed.

6. The assembly deviation correction method of a flexible circuit board according to claim 3, characterized in that: The step of performing alignment and assembly correction processing on the flexible circuit board according to the contact state of the male and female heads includes: When it is determined that the contact state of the male and female heads is the non-deviation state, the posture of the male head of the flexible circuit board is controlled to remain within a preset posture range to perform alignment, assembly and deviation correction processing on the flexible circuit board, wherein the posture range is determined based on the maximum blocking angle of the male and female heads of the flexible circuit board.

7. The assembly deviation correction method for a flexible circuit board according to any one of claims 1 to 6, characterized in that: The method further comprises: Determining the force sense control range of the flexible circuit board according to the male and female head sizes of the flexible circuit board and preset adjustable parameters; The step of determining the contact state of the male and female heads of the flexible circuit board according to the position of the flexible circuit board and the step of performing alignment and assembly correction processing on the flexible circuit board according to the contact state of the male and female heads are performed according to the force control action range.

8. An assembly deviation correction device for a flexible circuit board, characterized in that: The assembly deviation correction device of the flexible circuit board comprises: A contact state determination module, used to determine the contact state of the male and female connectors of the flexible circuit board according to the position of the flexible circuit board; The assembly correction module is used to perform alignment and assembly correction processing on the flexible circuit board according to the contact state of the male and female heads, so that the flexible circuit board can complete the press-fit assembly when the male and female heads are aligned.

9. A terminal device, characterized in that: The terminal device includes: a memory, a processor, and an assembly correction program for a flexible circuit board stored in the memory and executable on the processor. When the assembly correction program for the flexible circuit board is executed by the processor, the steps of the assembly correction method for a flexible circuit board as described in any one of claims 1 to 7 are implemented.

10. A computer storage medium, characterized in that: The computer storage medium stores an assembly correction program for a flexible circuit board, and when the assembly correction program for a flexible circuit board is executed by a processor, the steps of the assembly correction method for a flexible circuit board as described in any one of claims 1 to 7 are implemented.

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